CN108803602B - 障碍物自学习方法及新障碍物自学习方法 - Google Patents
障碍物自学习方法及新障碍物自学习方法 Download PDFInfo
- Publication number
- CN108803602B CN108803602B CN201810556614.6A CN201810556614A CN108803602B CN 108803602 B CN108803602 B CN 108803602B CN 201810556614 A CN201810556614 A CN 201810556614A CN 108803602 B CN108803602 B CN 108803602B
- Authority
- CN
- China
- Prior art keywords
- grid
- mobile unit
- traversed
- obstacle
- stack
- 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 34
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims description 12
- 230000000694 effects Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- 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
-
- 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
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N5/00—Computing arrangements using knowledge-based models
- G06N5/04—Inference or reasoning models
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
- G05D1/227—Handing over between remote control and on-board control; Handing over between remote control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Software Systems (AREA)
- Data Mining & Analysis (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Artificial Intelligence (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Computational Linguistics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (4)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810556614.6A CN108803602B (zh) | 2018-06-01 | 2018-06-01 | 障碍物自学习方法及新障碍物自学习方法 |
US16/967,148 US11947358B2 (en) | 2018-06-01 | 2019-05-30 | Obstacle self-learning method and new obstacle self-learning method |
PCT/CN2019/089205 WO2019228438A1 (zh) | 2018-06-01 | 2019-05-30 | 障碍物自学习方法及新障碍物自学习方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810556614.6A CN108803602B (zh) | 2018-06-01 | 2018-06-01 | 障碍物自学习方法及新障碍物自学习方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108803602A CN108803602A (zh) | 2018-11-13 |
CN108803602B true CN108803602B (zh) | 2021-07-13 |
Family
ID=64090002
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810556614.6A Expired - Fee Related CN108803602B (zh) | 2018-06-01 | 2018-06-01 | 障碍物自学习方法及新障碍物自学习方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11947358B2 (zh) |
CN (1) | CN108803602B (zh) |
WO (1) | WO2019228438A1 (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108803602B (zh) | 2018-06-01 | 2021-07-13 | 浙江亚特电器有限公司 | 障碍物自学习方法及新障碍物自学习方法 |
CN109528090A (zh) * | 2018-11-24 | 2019-03-29 | 珠海市微半导体有限公司 | 一种机器人的区域遍历方法和芯片以及清洁机器人 |
CN109828584A (zh) * | 2019-03-01 | 2019-05-31 | 重庆润通智能装备有限公司 | 待割草坪移除、添加障碍物后的路径规划方法及*** |
CN115374765B (zh) * | 2022-10-27 | 2023-06-02 | 浪潮通信信息***有限公司 | 一种基于自然语言处理的算力网络5g数据解析***及方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104615138A (zh) * | 2015-01-14 | 2015-05-13 | 上海物景智能科技有限公司 | 一种划分移动机器人室内区域动态覆盖方法及其装置 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008013568A2 (en) * | 2005-12-30 | 2008-01-31 | Irobot Corporation | Autonomous mobile robot |
KR101452437B1 (ko) * | 2014-02-14 | 2014-11-04 | 한국기계연구원 | 모바일 매니퓰레이터의 작업대 세팅방법 |
JP2015223956A (ja) * | 2014-05-28 | 2015-12-14 | 株式会社デンソー | 衝突検知システム |
CN104035444B (zh) | 2014-06-27 | 2016-08-24 | 东南大学 | 机器人地图构建存储方法 |
CN104714555B (zh) * | 2015-03-23 | 2017-05-10 | 深圳北航新兴产业技术研究院 | 一种基于边缘的三维自主探索方法 |
CN105043396B (zh) * | 2015-08-14 | 2018-02-02 | 北京进化者机器人科技有限公司 | 一种移动机器人室内自建地图的方法和*** |
CN105843222B (zh) * | 2016-03-18 | 2019-04-12 | 北京航空航天大学 | 一种六轮/腿机器人复合运动路径规划方法 |
CN106199558A (zh) * | 2016-08-18 | 2016-12-07 | 宁波傲视智绘光电科技有限公司 | 障碍物快速检测方法 |
CN106570454B (zh) * | 2016-10-10 | 2019-06-11 | 同济大学 | 基于移动激光扫描的行人交通参数提取方法 |
CN108088445A (zh) * | 2016-11-22 | 2018-05-29 | 广州映博智能科技有限公司 | 基于八叉树表示的三维栅格地图路径规划***及方法 |
CN106530946A (zh) * | 2016-11-30 | 2017-03-22 | 北京贝虎机器人技术有限公司 | 用于编辑室内地图的方法及装置 |
CN107340768B (zh) | 2016-12-29 | 2020-08-28 | 珠海市一微半导体有限公司 | 一种智能机器人的路径规划方法 |
CN106843216B (zh) * | 2017-02-15 | 2019-11-05 | 北京大学深圳研究生院 | 一种基于回溯搜索的生物激励机器人完全遍历路径规划方法 |
CN107065872B (zh) * | 2017-04-11 | 2020-06-05 | 珠海市一微半导体有限公司 | 智能机器人的栅格地图创建方法 |
CN107239076B (zh) * | 2017-06-28 | 2020-06-23 | 仲训昱 | 基于虚拟扫描与测距匹配的agv激光slam方法 |
CN107560620B (zh) * | 2017-08-31 | 2019-12-20 | 珠海市一微半导体有限公司 | 一种路径导航方法和芯片及机器人 |
CN107908185A (zh) * | 2017-10-14 | 2018-04-13 | 北醒(北京)光子科技有限公司 | 一种机器人自主全局重定位方法及机器人 |
CN107966702B (zh) * | 2017-11-21 | 2019-12-13 | 北京进化者机器人科技有限公司 | 环境地图的构建方法及装置 |
CN107976999B (zh) * | 2017-11-21 | 2020-11-06 | 深圳市远弗科技有限公司 | 一种移动机器人及其避障和路径规划方法和*** |
CN108803602B (zh) * | 2018-06-01 | 2021-07-13 | 浙江亚特电器有限公司 | 障碍物自学习方法及新障碍物自学习方法 |
-
2018
- 2018-06-01 CN CN201810556614.6A patent/CN108803602B/zh not_active Expired - Fee Related
-
2019
- 2019-05-30 US US16/967,148 patent/US11947358B2/en active Active
- 2019-05-30 WO PCT/CN2019/089205 patent/WO2019228438A1/zh active Application Filing
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104615138A (zh) * | 2015-01-14 | 2015-05-13 | 上海物景智能科技有限公司 | 一种划分移动机器人室内区域动态覆盖方法及其装置 |
Also Published As
Publication number | Publication date |
---|---|
US20200356105A1 (en) | 2020-11-12 |
US11947358B2 (en) | 2024-04-02 |
CN108803602A (zh) | 2018-11-13 |
WO2019228438A1 (zh) | 2019-12-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108803602B (zh) | 障碍物自学习方法及新障碍物自学习方法 | |
JP7085296B2 (ja) | ロボットの再測位方法 | |
US11385067B2 (en) | Route planning method for mobile vehicle | |
CN113110457B (zh) | 在室内复杂动态环境中智能机器人的自主覆盖巡检方法 | |
JP7212074B2 (ja) | 自律移動ロボットの縁沿い走行の制御方法 | |
CN110823240B (zh) | 一种具有航向约束的跟随机器人路径规划方法及*** | |
CN109363585B (zh) | 分区遍历方法、清扫方法及其扫地机器人 | |
KR101372482B1 (ko) | 이동 로봇의 경로 계획 방법 및 장치 | |
US11774980B2 (en) | Method for controlling cleaning of robot, chip, and robot cleaner | |
CN109407675B (zh) | 机器人回座的避障方法和芯片以及自主移动机器人 | |
CN113199474B (zh) | 一种机器人行走与作业智能协同的运动规划方法 | |
CN105116902A (zh) | 一种移动机器人避障导航的方法和*** | |
WO2021164738A1 (en) | Area division and path forming method and apparatus for self-moving device and automatic working system | |
US20210255638A1 (en) | Area Division and Path Forming Method and Apparatus for Self-Moving Device and Automatic Working System | |
CN114102585B (zh) | 一种物品抓取规划方法及*** | |
KR20120036207A (ko) | 이동 로봇 및 그 지도 작성 방법 | |
US20210341928A1 (en) | Path planning | |
WO2023005377A1 (zh) | 一种机器人的建图方法及机器人 | |
CN111609853A (zh) | 三维地图构建方法、扫地机器人及电子设备 | |
CN114612780A (zh) | 一种多地图切换slam建图方法 | |
CN114034299A (zh) | 一种基于主动激光slam的导航*** | |
CN116149314A (zh) | 机器人全覆盖作业方法、装置及机器人 | |
CN113485372B (zh) | 地图探索方法和装置、存储介质、电子装置 | |
CN113885495A (zh) | 一种基于机器视觉的室外自动工作控制***、方法及设备 | |
KR101297608B1 (ko) | 미지 환경에서의 로봇 커버리지 방법 및 시스템 |
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 | ||
CP03 | Change of name, title or address |
Address after: No. 150 Wenlong Road, Yuxin Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee after: Zhejiang Yate Electric Appliance Co.,Ltd. Patentee after: WUXI KALMAN NAVIGATION TECHNOLOGY CO.,LTD. Address before: 314100 No. 150 Wenlong Road, Yuxin Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee before: ZHEJIANG YAT ELECTRICAL APPLIANCE Co.,Ltd. Patentee before: WUXI KALMAN NAVIGATION TECHNOLOGY CO.,LTD. |
|
CP03 | Change of name, title or address | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210713 |
|
CF01 | Termination of patent right due to non-payment of annual fee |