CN111443699B - 定位漂移检测方法及装置、机器人 - Google Patents
定位漂移检测方法及装置、机器人 Download PDFInfo
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- CN111443699B CN111443699B CN201811627433.4A CN201811627433A CN111443699B CN 111443699 B CN111443699 B CN 111443699B CN 201811627433 A CN201811627433 A CN 201811627433A CN 111443699 B CN111443699 B CN 111443699B
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 26
- 238000013507 mapping Methods 0.000 claims abstract description 9
- 239000000758 substrate Substances 0.000 claims 3
- 239000000523 sample Substances 0.000 claims 1
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 108010076504 Protein Sorting Signals Proteins 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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CN201811627433.4A CN111443699B (zh) | 2018-12-28 | 2018-12-28 | 定位漂移检测方法及装置、机器人 |
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CN201811627433.4A CN111443699B (zh) | 2018-12-28 | 2018-12-28 | 定位漂移检测方法及装置、机器人 |
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CN111443699A CN111443699A (zh) | 2020-07-24 |
CN111443699B true CN111443699B (zh) | 2023-05-23 |
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Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014182590A (ja) * | 2013-03-19 | 2014-09-29 | Ihi Aerospace Co Ltd | 移動体の環境地図生成制御装置、移動体、及び移動体の環境地図生成方法 |
CN105204510A (zh) * | 2015-10-09 | 2015-12-30 | 福州华鹰重工机械有限公司 | 一种用于精确定位的概率地图的生成方法及装置 |
CN205656496U (zh) * | 2015-11-26 | 2016-10-19 | 江苏美的清洁电器股份有限公司 | 扫地机器人及其室内地图建立装置 |
CN107390681A (zh) * | 2017-06-21 | 2017-11-24 | 华南理工大学 | 一种基于激光雷达与地图匹配的移动机器人实时定位方法 |
CN107738852A (zh) * | 2017-11-30 | 2018-02-27 | 歌尔科技有限公司 | 定位方法、定位地图构建方法及机器人 |
CN108508885A (zh) * | 2018-02-09 | 2018-09-07 | 意诺科技有限公司 | 一种导航地图构建方法及装置 |
CN108732582A (zh) * | 2017-04-20 | 2018-11-02 | 百度在线网络技术(北京)有限公司 | 车辆定位方法和装置 |
CN108873001A (zh) * | 2018-09-17 | 2018-11-23 | 江苏金智科技股份有限公司 | 一种精准评判机器人定位精度的方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102373926B1 (ko) * | 2016-02-05 | 2022-03-14 | 삼성전자주식회사 | 이동체 및 이동체의 위치 인식 방법 |
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2018
- 2018-12-28 CN CN201811627433.4A patent/CN111443699B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014182590A (ja) * | 2013-03-19 | 2014-09-29 | Ihi Aerospace Co Ltd | 移動体の環境地図生成制御装置、移動体、及び移動体の環境地図生成方法 |
CN105204510A (zh) * | 2015-10-09 | 2015-12-30 | 福州华鹰重工机械有限公司 | 一种用于精确定位的概率地图的生成方法及装置 |
CN205656496U (zh) * | 2015-11-26 | 2016-10-19 | 江苏美的清洁电器股份有限公司 | 扫地机器人及其室内地图建立装置 |
CN108732582A (zh) * | 2017-04-20 | 2018-11-02 | 百度在线网络技术(北京)有限公司 | 车辆定位方法和装置 |
CN107390681A (zh) * | 2017-06-21 | 2017-11-24 | 华南理工大学 | 一种基于激光雷达与地图匹配的移动机器人实时定位方法 |
CN107738852A (zh) * | 2017-11-30 | 2018-02-27 | 歌尔科技有限公司 | 定位方法、定位地图构建方法及机器人 |
CN108508885A (zh) * | 2018-02-09 | 2018-09-07 | 意诺科技有限公司 | 一种导航地图构建方法及装置 |
CN108873001A (zh) * | 2018-09-17 | 2018-11-23 | 江苏金智科技股份有限公司 | 一种精准评判机器人定位精度的方法 |
Non-Patent Citations (1)
Title |
---|
"基于高次差法的降低北斗定位漂移研究";陈石平 等;《现代导航》(第3期);177-182 * |
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Address after: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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Effective date of registration: 20231201 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |