CN109100744A - 用于agv的目标定位方法及*** - Google Patents
用于agv的目标定位方法及*** Download PDFInfo
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- CN109100744A CN109100744A CN201810847522.3A CN201810847522A CN109100744A CN 109100744 A CN109100744 A CN 109100744A CN 201810847522 A CN201810847522 A CN 201810847522A CN 109100744 A CN109100744 A CN 109100744A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000004807 localization Effects 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 238000013178 mathematical model Methods 0.000 claims description 41
- 230000000007 visual effect Effects 0.000 claims description 19
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004040 coloring Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0248—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 in combination with a laser
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
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CN201810847522.3A CN109100744B (zh) | 2018-07-27 | 2018-07-27 | 用于agv的目标定位方法及*** |
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CN201810847522.3A CN109100744B (zh) | 2018-07-27 | 2018-07-27 | 用于agv的目标定位方法及*** |
Publications (2)
Publication Number | Publication Date |
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CN109100744A true CN109100744A (zh) | 2018-12-28 |
CN109100744B CN109100744B (zh) | 2021-03-30 |
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CN201810847522.3A Active CN109100744B (zh) | 2018-07-27 | 2018-07-27 | 用于agv的目标定位方法及*** |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110260875A (zh) * | 2019-06-20 | 2019-09-20 | 广州蓝胖子机器人有限公司 | 一种全局规划路径的方法、全局规划器以及存储介质 |
CN111533051A (zh) * | 2020-05-08 | 2020-08-14 | 三一机器人科技有限公司 | 托盘位姿检测方法、装置、叉车和货运*** |
CN113284197A (zh) * | 2021-07-22 | 2021-08-20 | 浙江华睿科技股份有限公司 | Agv的tof相机外参标定方法及装置、电子设备 |
WO2021249572A1 (zh) * | 2020-06-12 | 2021-12-16 | 深圳市海柔创新科技有限公司 | 取货控制的方法、***、搬运机器人及存储介质 |
CN116580098A (zh) * | 2023-07-12 | 2023-08-11 | 中科领航智能科技(苏州)有限公司 | 自动靠机***舱门位置探测方法 |
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CN105974922A (zh) * | 2016-06-29 | 2016-09-28 | 上海诺力智能科技有限公司 | 一种巷道自动导引车、导引***及其操作方法 |
CN106127153A (zh) * | 2016-06-24 | 2016-11-16 | 南京林业大学 | 车载激光扫描点云数据的交通标牌识别方法 |
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CN207148647U (zh) * | 2017-04-26 | 2018-03-27 | 北京饮冰科技有限公司 | 一种扫地机器人的定位和导航测绘装置 |
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CN108007451A (zh) * | 2017-11-10 | 2018-05-08 | 未来机器人(深圳)有限公司 | 货物承载装置位姿的检测方法、装置、计算机设备和存储介质 |
CN108089574A (zh) * | 2016-11-22 | 2018-05-29 | 永恒力股份公司 | 用于提供仓库中的存放位的位置的方法和物料搬运车 |
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2018
- 2018-07-27 CN CN201810847522.3A patent/CN109100744B/zh active Active
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US20160341041A1 (en) * | 2014-01-14 | 2016-11-24 | Sandvik Mining And Construction Oy | Mine vehicle and method of determining position and direction of monitored object |
CN105841687A (zh) * | 2015-01-14 | 2016-08-10 | 上海智乘网络科技有限公司 | 室内定位方法和*** |
CN106127153A (zh) * | 2016-06-24 | 2016-11-16 | 南京林业大学 | 车载激光扫描点云数据的交通标牌识别方法 |
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CN108089574A (zh) * | 2016-11-22 | 2018-05-29 | 永恒力股份公司 | 用于提供仓库中的存放位的位置的方法和物料搬运车 |
CN206671564U (zh) * | 2016-12-21 | 2017-11-24 | 深圳市镭神智能***有限公司 | 基于激光雷达的智能车防撞*** |
CN207148647U (zh) * | 2017-04-26 | 2018-03-27 | 北京饮冰科技有限公司 | 一种扫地机器人的定位和导航测绘装置 |
CN108007451A (zh) * | 2017-11-10 | 2018-05-08 | 未来机器人(深圳)有限公司 | 货物承载装置位姿的检测方法、装置、计算机设备和存储介质 |
CN108008413A (zh) * | 2018-01-15 | 2018-05-08 | 上海兰宝传感科技股份有限公司 | 一种多方位分布式光电测距避障***及方法 |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110260875A (zh) * | 2019-06-20 | 2019-09-20 | 广州蓝胖子机器人有限公司 | 一种全局规划路径的方法、全局规划器以及存储介质 |
CN111533051A (zh) * | 2020-05-08 | 2020-08-14 | 三一机器人科技有限公司 | 托盘位姿检测方法、装置、叉车和货运*** |
WO2021249572A1 (zh) * | 2020-06-12 | 2021-12-16 | 深圳市海柔创新科技有限公司 | 取货控制的方法、***、搬运机器人及存储介质 |
CN113284197A (zh) * | 2021-07-22 | 2021-08-20 | 浙江华睿科技股份有限公司 | Agv的tof相机外参标定方法及装置、电子设备 |
CN113284197B (zh) * | 2021-07-22 | 2021-11-23 | 浙江华睿科技股份有限公司 | Agv的tof相机外参标定方法及装置、电子设备 |
CN116580098A (zh) * | 2023-07-12 | 2023-08-11 | 中科领航智能科技(苏州)有限公司 | 自动靠机***舱门位置探测方法 |
CN116580098B (zh) * | 2023-07-12 | 2023-09-15 | 中科领航智能科技(苏州)有限公司 | 自动靠机***舱门位置探测方法 |
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Address after: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |
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Address after: 523000 reservoir H6, Chiwan left battery Road, Chiwan community, merchants street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen Lan pangzi machine intelligence Co., Ltd |
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