CN111930106A - 移动机器人及其控制方法 - Google Patents
移动机器人及其控制方法 Download PDFInfo
- Publication number
- CN111930106A CN111930106A CN201910347995.1A CN201910347995A CN111930106A CN 111930106 A CN111930106 A CN 111930106A CN 201910347995 A CN201910347995 A CN 201910347995A CN 111930106 A CN111930106 A CN 111930106A
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- mobile robot
- laser radar
- distance
- binocular camera
- obstacle
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- 238000000034 method Methods 0.000 title claims description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 241000220317 Rosa Species 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Classifications
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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
- G05D1/0212—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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors 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
- G05D1/0231—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
- G05D1/0231—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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910347995.1A CN111930106A (zh) | 2019-04-28 | 2019-04-28 | 移动机器人及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910347995.1A CN111930106A (zh) | 2019-04-28 | 2019-04-28 | 移动机器人及其控制方法 |
Publications (1)
Publication Number | Publication Date |
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CN111930106A true CN111930106A (zh) | 2020-11-13 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201910347995.1A Pending CN111930106A (zh) | 2019-04-28 | 2019-04-28 | 移动机器人及其控制方法 |
Country Status (1)
Country | Link |
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CN (1) | CN111930106A (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112637492A (zh) * | 2020-12-19 | 2021-04-09 | 中建浩运有限公司 | 一种智能实体展会*** |
CN114019951A (zh) * | 2021-09-30 | 2022-02-08 | 云鲸智能(深圳)有限公司 | 机器人的控制方法、装置、机器人及可读存储介质 |
CN114625116A (zh) * | 2021-05-06 | 2022-06-14 | 北京石头世纪科技股份有限公司 | 自行走设备避障方法、装置、介质和电子设备 |
WO2022127442A1 (zh) * | 2020-12-15 | 2022-06-23 | 速感科技(北京)有限公司 | 自主移动设备 |
WO2023155556A1 (zh) * | 2022-02-21 | 2023-08-24 | 追觅创新科技(苏州)有限公司 | 自移动设备、自移动设备的控制方法、设备及存储介质 |
-
2019
- 2019-04-28 CN CN201910347995.1A patent/CN111930106A/zh active Pending
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022127442A1 (zh) * | 2020-12-15 | 2022-06-23 | 速感科技(北京)有限公司 | 自主移动设备 |
CN112637492A (zh) * | 2020-12-19 | 2021-04-09 | 中建浩运有限公司 | 一种智能实体展会*** |
CN112637492B (zh) * | 2020-12-19 | 2022-04-15 | 中建浩运有限公司 | 一种智能实体展会*** |
CN114625116A (zh) * | 2021-05-06 | 2022-06-14 | 北京石头世纪科技股份有限公司 | 自行走设备避障方法、装置、介质和电子设备 |
WO2022233183A1 (zh) * | 2021-05-06 | 2022-11-10 | 北京石头世纪科技股份有限公司 | 自行走设备避障方法、装置、介质和电子设备 |
CN114019951A (zh) * | 2021-09-30 | 2022-02-08 | 云鲸智能(深圳)有限公司 | 机器人的控制方法、装置、机器人及可读存储介质 |
CN114019951B (zh) * | 2021-09-30 | 2023-08-08 | 云鲸智能(深圳)有限公司 | 机器人的控制方法、装置、机器人及可读存储介质 |
WO2023155556A1 (zh) * | 2022-02-21 | 2023-08-24 | 追觅创新科技(苏州)有限公司 | 自移动设备、自移动设备的控制方法、设备及存储介质 |
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PB01 | Publication | ||
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CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000 2nd and 3rd floors, block D, No. 438, Donghuan Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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TA01 | Transfer of patent application right |
Effective date of registration: 20220513 Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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