CN107315410A - 一种机器人自动排障方法 - Google Patents
一种机器人自动排障方法 Download PDFInfo
- Publication number
- CN107315410A CN107315410A CN201710455042.8A CN201710455042A CN107315410A CN 107315410 A CN107315410 A CN 107315410A CN 201710455042 A CN201710455042 A CN 201710455042A CN 107315410 A CN107315410 A CN 107315410A
- Authority
- CN
- China
- Prior art keywords
- point
- robot
- image
- control system
- sixdegree
- 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
- 238000013024 troubleshooting Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 239000012636 effector Substances 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims description 19
- 238000004458 analytical method Methods 0.000 claims description 18
- 238000004422 calculation algorithm Methods 0.000 claims description 18
- 230000004888 barrier function Effects 0.000 claims description 15
- 238000013528 artificial neural network Methods 0.000 claims description 7
- 230000006872 improvement Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 5
- 230000011218 segmentation Effects 0.000 claims description 5
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 3
- 230000001629 suppression Effects 0.000 claims description 2
- 238000011835 investigation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000003252 repetitive 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710455042.8A CN107315410B (zh) | 2017-06-16 | 2017-06-16 | 一种机器人自动排障方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710455042.8A CN107315410B (zh) | 2017-06-16 | 2017-06-16 | 一种机器人自动排障方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107315410A true CN107315410A (zh) | 2017-11-03 |
CN107315410B CN107315410B (zh) | 2020-05-29 |
Family
ID=60184175
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710455042.8A Active CN107315410B (zh) | 2017-06-16 | 2017-06-16 | 一种机器人自动排障方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107315410B (zh) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110103196A (zh) * | 2019-06-19 | 2019-08-09 | 广东电网有限责任公司 | 一种gis的检修机器人和gis的检修*** |
CN111121639A (zh) * | 2019-12-18 | 2020-05-08 | 同济大学 | 一种刚柔一体的建筑物狭窄空间的裂缝检测*** |
CN111113421A (zh) * | 2019-12-30 | 2020-05-08 | 上海燊星机器人科技有限公司 | 一种机器人智能抓取排序*** |
CN111421549A (zh) * | 2020-04-24 | 2020-07-17 | 深圳国信泰富科技有限公司 | 一种清障机器人及控制方法 |
CN113029634A (zh) * | 2021-03-22 | 2021-06-25 | 江苏省产品质量监督检验研究院 | 全自动床垫取样机 |
CN113065596A (zh) * | 2021-04-02 | 2021-07-02 | 鑫安利中(北京)科技有限公司 | 一种基于视频分析和人工智能的工业安全实时监测*** |
CN113077413A (zh) * | 2020-01-06 | 2021-07-06 | 苏州宝时得电动工具有限公司 | 自移动设备及其控制方法 |
CN113190031A (zh) * | 2021-04-30 | 2021-07-30 | 成都思晗科技股份有限公司 | 基于无人机的森林火灾自动拍照跟踪方法、装置及*** |
WO2022000755A1 (zh) * | 2020-06-29 | 2022-01-06 | 济南浪潮高新科技投资发展有限公司 | 机器人及其行动控制方法、装置和计算机可读存储介质 |
CN114833799A (zh) * | 2022-04-26 | 2022-08-02 | 浙江大学 | 一种用于养殖场动物唾液样本无人化采集的机器人和方法 |
CN116300918A (zh) * | 2023-03-07 | 2023-06-23 | 广东隆崎机器人有限公司 | 六轴机器人的路径规划、装置、机器人及可读存储介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102922521A (zh) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | 一种基于立体视觉伺服的机械臂***及其实时校准方法 |
CN103522291B (zh) * | 2013-10-29 | 2016-08-17 | 中国人民解放军总装备部军械技术研究所 | 一种排爆机器人的目标抓取***及方法 |
CN106737665A (zh) * | 2016-11-30 | 2017-05-31 | 天津大学 | 基于双目视觉和sift特征匹配的机械臂控制***及实现方法 |
GB2553641A (en) * | 2016-09-01 | 2018-03-14 | Adobe Systems Inc | Techniques for selecting objects in images |
-
2017
- 2017-06-16 CN CN201710455042.8A patent/CN107315410B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102922521A (zh) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | 一种基于立体视觉伺服的机械臂***及其实时校准方法 |
CN103522291B (zh) * | 2013-10-29 | 2016-08-17 | 中国人民解放军总装备部军械技术研究所 | 一种排爆机器人的目标抓取***及方法 |
GB2553641A (en) * | 2016-09-01 | 2018-03-14 | Adobe Systems Inc | Techniques for selecting objects in images |
CN106737665A (zh) * | 2016-11-30 | 2017-05-31 | 天津大学 | 基于双目视觉和sift特征匹配的机械臂控制***及实现方法 |
Non-Patent Citations (3)
Title |
---|
MNBIKUH: "地面排障机器人", 《豆丁文库》 * |
杨秋菊等: "基于改进Canny特征点的SIFT算法", 《计算机工程与设计》 * |
范莹: "基于双目视觉的图像匹配与定位技术的研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110103196A (zh) * | 2019-06-19 | 2019-08-09 | 广东电网有限责任公司 | 一种gis的检修机器人和gis的检修*** |
CN111121639A (zh) * | 2019-12-18 | 2020-05-08 | 同济大学 | 一种刚柔一体的建筑物狭窄空间的裂缝检测*** |
CN111121639B (zh) * | 2019-12-18 | 2021-07-27 | 同济大学 | 一种刚柔一体的建筑物狭窄空间的裂缝检测*** |
CN111113421A (zh) * | 2019-12-30 | 2020-05-08 | 上海燊星机器人科技有限公司 | 一种机器人智能抓取排序*** |
CN113077413A (zh) * | 2020-01-06 | 2021-07-06 | 苏州宝时得电动工具有限公司 | 自移动设备及其控制方法 |
CN111421549A (zh) * | 2020-04-24 | 2020-07-17 | 深圳国信泰富科技有限公司 | 一种清障机器人及控制方法 |
WO2022000755A1 (zh) * | 2020-06-29 | 2022-01-06 | 济南浪潮高新科技投资发展有限公司 | 机器人及其行动控制方法、装置和计算机可读存储介质 |
CN113029634A (zh) * | 2021-03-22 | 2021-06-25 | 江苏省产品质量监督检验研究院 | 全自动床垫取样机 |
CN113029634B (zh) * | 2021-03-22 | 2022-12-20 | 江苏省产品质量监督检验研究院 | 全自动床垫取样机 |
CN113065596A (zh) * | 2021-04-02 | 2021-07-02 | 鑫安利中(北京)科技有限公司 | 一种基于视频分析和人工智能的工业安全实时监测*** |
CN113190031A (zh) * | 2021-04-30 | 2021-07-30 | 成都思晗科技股份有限公司 | 基于无人机的森林火灾自动拍照跟踪方法、装置及*** |
CN114833799A (zh) * | 2022-04-26 | 2022-08-02 | 浙江大学 | 一种用于养殖场动物唾液样本无人化采集的机器人和方法 |
CN114833799B (zh) * | 2022-04-26 | 2024-01-02 | 浙江大学 | 一种用于养殖场动物唾液样本无人化采集的机器人和方法 |
CN116300918A (zh) * | 2023-03-07 | 2023-06-23 | 广东隆崎机器人有限公司 | 六轴机器人的路径规划、装置、机器人及可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN107315410B (zh) | 2020-05-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107315410A (zh) | 一种机器人自动排障方法 | |
CN104933730B (zh) | 使用半穷举搜索的多视图人检测 | |
CN103413313B (zh) | 基于电力机器人的双目视觉导航***及方法 | |
CN103268616B (zh) | 多特征多传感器的移动机器人运动人体跟踪方法 | |
CN105243664B (zh) | 一种基于视觉的轮式移动机器人快速目标跟踪方法 | |
CN206023052U (zh) | 一种高压输电线路巡检机器人 | |
CN111399505A (zh) | 一种基于神经网络的移动机器人避障方法 | |
CN107526360A (zh) | 一种未知环境下排爆机器人多阶自主导航探测***及方法 | |
CN106863259B (zh) | 一种轮式多机械手智能捡球机器人 | |
CN108364466A (zh) | 一种基于无人机交通视频的车流量统计方法 | |
CN108241373A (zh) | 避障方法和智能机器人 | |
CN110083099B (zh) | 一种符合汽车功能安全标准自动驾驶架构***和工作方法 | |
CN106529404A (zh) | 基于摄像原理的无人驾驶汽车对路面标志线的识别方法 | |
Jun et al. | Autonomous driving system design for formula student driverless racecar | |
Soans et al. | Object tracking robot using adaptive color thresholding | |
Fukuda et al. | Navigation system based on ceiling landmark recognition for autonomous mobile robot-landmark detection based on fuzzy template matching (ftm) | |
CN113084776B (zh) | 基于视觉的多传感器融合的智能防疫机器人及*** | |
CN109101029A (zh) | 一种果园自动巡逻检害智能小车及其工作方法 | |
CN106033537A (zh) | 一种机器人定位用的视觉识别装置及其识别方法 | |
CN107767366A (zh) | 一种输电线路拟合方法及装置 | |
Liu et al. | A new measurement method of real-time pose estimation for an automatic hydraulic excavator | |
Frank et al. | Stereo-vision for autonomous industrial inspection robots | |
Luo et al. | Mobile robot based human detection and tracking using range and intensity data fusion | |
CN109508017A (zh) | 智能小车控制方法 | |
CN114115278A (zh) | 一种基于fpga的森林防火机器人行进间避障*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20171103 Assignee: Zhenjiang Kaituo Machinery Co.,Ltd. Assignor: JIANGSU University OF SCIENCE AND TECHNOLOGY Contract record no.: X2020980007284 Denomination of invention: A method of robot automatic obstacle removal Granted publication date: 20200529 License type: Common License Record date: 20201029 |
|
EC01 | Cancellation of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Zhenjiang Kaituo Machinery Co.,Ltd. Assignor: JIANGSU University OF SCIENCE AND TECHNOLOGY Contract record no.: X2020980007284 Date of cancellation: 20201223 |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220920 Address after: Room 1, No. 188 and 198, Hanlin Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province 215300 Patentee after: Kunshan Quantai Information Technology Service Co.,Ltd. Address before: 212003, No. 2, Mengxi Road, Zhenjiang, Jiangsu Patentee before: JIANGSU University OF SCIENCE AND TECHNOLOGY |