CN108885460A - 定位方法、装置、机器人及计算机可读存储介质 - Google Patents
定位方法、装置、机器人及计算机可读存储介质 Download PDFInfo
- Publication number
- CN108885460A CN108885460A CN201880001300.8A CN201880001300A CN108885460A CN 108885460 A CN108885460 A CN 108885460A CN 201880001300 A CN201880001300 A CN 201880001300A CN 108885460 A CN108885460 A CN 108885460A
- Authority
- CN
- China
- Prior art keywords
- robot
- positioning
- speed
- ambient enviroment
- service
- 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 55
- 230000002829 reductive effect Effects 0.000 claims abstract description 42
- 230000004807 localization Effects 0.000 claims description 33
- 230000015654 memory Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 description 17
- 230000006870 function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 238000010573 double replacement reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010408 sweeping Methods 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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of 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
- G05D1/02—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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (11)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2018/075170 WO2019148467A1 (zh) | 2018-02-02 | 2018-02-02 | 定位方法、装置、机器人及计算机可读存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108885460A true CN108885460A (zh) | 2018-11-23 |
CN108885460B CN108885460B (zh) | 2020-07-03 |
Family
ID=64325035
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201880001300.8A Active CN108885460B (zh) | 2018-02-02 | 2018-02-02 | 定位方法、装置、机器人及计算机可读存储介质 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11292131B2 (zh) |
JP (1) | JP7032440B2 (zh) |
CN (1) | CN108885460B (zh) |
WO (1) | WO2019148467A1 (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113377104A (zh) * | 2021-06-02 | 2021-09-10 | 北京布科思科技有限公司 | 基于差速模型的机器人位置控制方法、装置 |
CN113691734A (zh) * | 2021-09-29 | 2021-11-23 | 深圳众为兴技术股份有限公司 | 自适应飞行拍摄控制方法、装置、设备及存储介质 |
CN114253290A (zh) * | 2021-12-15 | 2022-03-29 | 成都飞机工业(集团)有限责任公司 | 一种飞机部件运输车自动循迹和精确定位的方法及*** |
CN115237113A (zh) * | 2021-08-02 | 2022-10-25 | 达闼机器人股份有限公司 | 机器人导航的方法、机器人、机器人***及存储介质 |
CN115363478A (zh) * | 2021-05-17 | 2022-11-22 | 尚科宁家(中国)科技有限公司 | 一种清洁机器人重定位失败的清洁方法和清洁机器人 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009144805A1 (ja) * | 2008-05-29 | 2009-12-03 | 三菱電機株式会社 | 加減速制御装置 |
CN104102226A (zh) * | 2013-04-08 | 2014-10-15 | 欧姆龙株式会社 | 控制***及控制方法 |
CN106200645A (zh) * | 2016-08-24 | 2016-12-07 | 北京小米移动软件有限公司 | 自主机器人、控制装置和控制方法 |
CN107223244A (zh) * | 2016-12-02 | 2017-09-29 | 深圳前海达闼云端智能科技有限公司 | 定位方法和装置 |
CN107246876A (zh) * | 2017-07-31 | 2017-10-13 | 中北智杰科技(北京)有限公司 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
CN107357286A (zh) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | 视觉定位导航装置及其方法 |
CN107368071A (zh) * | 2017-07-17 | 2017-11-21 | 纳恩博(北京)科技有限公司 | 一种异常恢复方法及电子设备 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02204807A (ja) * | 1989-02-02 | 1990-08-14 | Toshiba Corp | 無人搬送車 |
JP2969174B1 (ja) * | 1998-05-27 | 1999-11-02 | 建設省土木研究所長 | 車の自動合流制御方法及び装置 |
JP2000284830A (ja) * | 1999-03-30 | 2000-10-13 | Komatsu Ltd | 無人走行制御装置 |
JP3670586B2 (ja) | 2001-01-10 | 2005-07-13 | Hoyaヘルスケア株式会社 | レンズトレー |
JP3876698B2 (ja) * | 2001-11-28 | 2007-02-07 | 日産自動車株式会社 | ワーク搬送装置及び搬送方法 |
US6678582B2 (en) | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
US20080300777A1 (en) * | 2002-07-02 | 2008-12-04 | Linda Fehr | Computer-controlled power wheelchair navigation system |
JP5444171B2 (ja) * | 2010-09-03 | 2014-03-19 | 株式会社日立製作所 | 無人搬送車および走行制御方法 |
JP5288423B2 (ja) * | 2011-04-11 | 2013-09-11 | 株式会社日立製作所 | データ配信システム、及びデータ配信方法 |
US8972055B1 (en) * | 2011-08-19 | 2015-03-03 | Google Inc. | Methods and systems for selecting a velocity profile for controlling a robotic device |
US8755966B2 (en) * | 2012-04-03 | 2014-06-17 | Caterpillar Inc. | System and method for controlling autonomous machine within lane boundaries during position uncertainty |
US9081651B2 (en) | 2013-03-13 | 2015-07-14 | Ford Global Technologies, Llc | Route navigation with optimal speed profile |
ES2773136T3 (es) | 2014-06-05 | 2020-07-09 | Softbank Robotics Europe | Robot humanoide con capacidades para evitar colisiones y de recuperación de trayectoria |
US9910441B2 (en) * | 2015-11-04 | 2018-03-06 | Zoox, Inc. | Adaptive autonomous vehicle planner logic |
US10838427B2 (en) * | 2016-10-26 | 2020-11-17 | The Charles Stark Draper Laboratory, Inc. | Vision-aided inertial navigation with loop closure |
US10949798B2 (en) * | 2017-05-01 | 2021-03-16 | Symbol Technologies, Llc | Multimodal localization and mapping for a mobile automation apparatus |
CN107065784A (zh) | 2017-05-09 | 2017-08-18 | 杭州电子科技大学 | 用于直角坐标机器人在高速运动中实现在线多级调整方法 |
-
2018
- 2018-02-02 JP JP2019561296A patent/JP7032440B2/ja active Active
- 2018-02-02 WO PCT/CN2018/075170 patent/WO2019148467A1/zh active Application Filing
- 2018-02-02 CN CN201880001300.8A patent/CN108885460B/zh active Active
-
2019
- 2019-11-19 US US16/687,838 patent/US11292131B2/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009144805A1 (ja) * | 2008-05-29 | 2009-12-03 | 三菱電機株式会社 | 加減速制御装置 |
CN104102226A (zh) * | 2013-04-08 | 2014-10-15 | 欧姆龙株式会社 | 控制***及控制方法 |
CN107357286A (zh) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | 视觉定位导航装置及其方法 |
CN106200645A (zh) * | 2016-08-24 | 2016-12-07 | 北京小米移动软件有限公司 | 自主机器人、控制装置和控制方法 |
CN107223244A (zh) * | 2016-12-02 | 2017-09-29 | 深圳前海达闼云端智能科技有限公司 | 定位方法和装置 |
CN107368071A (zh) * | 2017-07-17 | 2017-11-21 | 纳恩博(北京)科技有限公司 | 一种异常恢复方法及电子设备 |
CN107246876A (zh) * | 2017-07-31 | 2017-10-13 | 中北智杰科技(北京)有限公司 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115363478A (zh) * | 2021-05-17 | 2022-11-22 | 尚科宁家(中国)科技有限公司 | 一种清洁机器人重定位失败的清洁方法和清洁机器人 |
CN115363478B (zh) * | 2021-05-17 | 2024-06-07 | 尚科宁家(中国)科技有限公司 | 一种清洁机器人重定位失败的清洁方法和清洁机器人 |
CN113377104A (zh) * | 2021-06-02 | 2021-09-10 | 北京布科思科技有限公司 | 基于差速模型的机器人位置控制方法、装置 |
CN115237113A (zh) * | 2021-08-02 | 2022-10-25 | 达闼机器人股份有限公司 | 机器人导航的方法、机器人、机器人***及存储介质 |
CN113691734A (zh) * | 2021-09-29 | 2021-11-23 | 深圳众为兴技术股份有限公司 | 自适应飞行拍摄控制方法、装置、设备及存储介质 |
CN114253290A (zh) * | 2021-12-15 | 2022-03-29 | 成都飞机工业(集团)有限责任公司 | 一种飞机部件运输车自动循迹和精确定位的方法及*** |
CN114253290B (zh) * | 2021-12-15 | 2024-03-19 | 成都飞机工业(集团)有限责任公司 | 一种飞机部件运输车自动循迹和精确定位的方法及*** |
Also Published As
Publication number | Publication date |
---|---|
US11292131B2 (en) | 2022-04-05 |
JP2020520006A (ja) | 2020-07-02 |
JP7032440B2 (ja) | 2022-03-08 |
WO2019148467A1 (zh) | 2019-08-08 |
US20200078944A1 (en) | 2020-03-12 |
CN108885460B (zh) | 2020-07-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108885460A (zh) | 定位方法、装置、机器人及计算机可读存储介质 | |
CN106094835B (zh) | 前轮驱动车式移动机器人的动态编队控制方法 | |
Marin et al. | Event-based localization in ackermann steering limited resource mobile robots | |
CN107085428B (zh) | 智能移动方法、装置、机器人及存储介质 | |
CN113759900B (zh) | 基于障碍区域预测的巡检机器人轨迹规划与实时避障方法及*** | |
CN106203341B (zh) | 一种无人车的车道线识别方法及装置 | |
CN101934982A (zh) | 基于图像传感器的双吊具桥吊定位方法 | |
CN107861507A (zh) | 一种基于惯导纠偏和slam室内定位的agv控制方法及*** | |
CN109708644A (zh) | 移动机器人导航方法、装置和移动机器人 | |
CN110673614A (zh) | 基于云服务器的小型机器人组的建图***及建图方法 | |
CN108919810A (zh) | 基于视觉示教的移动机器人定位与导航*** | |
CN110413011B (zh) | 一种双目云台控制方法、装置及存储介质 | |
CN108663938A (zh) | 一种考虑通讯拓扑变换的uuv集群协调控制方法 | |
CN113879860B (zh) | 基于动力学的斗轮堆取料机恒流量取料方法及装置 | |
CN110162028A (zh) | 一种车辆定位停车***、方法和装置 | |
CN110455294A (zh) | 基于ros环境下的多线程分布式slam***的实现方法 | |
Lu et al. | Adaptive visual regulation of wheeled mobile robots: A switching approach | |
CN114281100A (zh) | 一种不悬停无人机巡检***及其方法 | |
CN110716563A (zh) | 一种基于电子地图给定轨迹的电动轮椅路径跟踪控制方法与装置 | |
Liu et al. | Target recognition and heavy load operation posture control of humanoid robot for trolley operation | |
Liu et al. | DVL dead-reckoning navigation method based on beam measurements | |
CN109987097A (zh) | 一种调整目标车辆运动状态的方法和设备 | |
Shibuya et al. | Suppressing energy consumption of transportation robots using mobile agents | |
Wang et al. | Sampling extremal trajectories for planar rigid bodies | |
WO2018179659A1 (ja) | 地図作成システム |
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 | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210205 Address after: 200245 2nd floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Patentee after: Dalu Robot Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: Shenzhen Qianhaida Yunyun Intelligent Technology Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
CP03 | Change of name, title or address |
Address after: 200245 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Patentee after: Dayu robot Co.,Ltd. Address before: 200245 2nd floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Patentee before: Dalu Robot Co.,Ltd. |
|
CP03 | Change of name, title or address |