JP7274053B2 - 自己移動機器及びその測距方法 - Google Patents
自己移動機器及びその測距方法 Download PDFInfo
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- JP7274053B2 JP7274053B2 JP2022542773A JP2022542773A JP7274053B2 JP 7274053 B2 JP7274053 B2 JP 7274053B2 JP 2022542773 A JP2022542773 A JP 2022542773A JP 2022542773 A JP2022542773 A JP 2022542773A JP 7274053 B2 JP7274053 B2 JP 7274053B2
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- 238000000691 measurement method Methods 0.000 title 1
- 230000003287 optical effect Effects 0.000 claims description 126
- 238000001514 detection method Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010410 dusting Methods 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0238—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
-
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第1態様では、自己移動機器を提供する。自己移動機器は、車体と、前記車体上に配置された走行アセンブリと、前記車体内に配置された制御システムとを含む。前記自己移動機器は、前記車体上に配置された光学受信装置及び少なくとも2つの光学発射装置をさらに含む。前記少なくとも2つの光学発射装置から発射される発射光線の経路は異なる。前記光学受信装置は、前記光学発射装置から放出される発射光線が障害物に当たった後に形成される少なくとも1つの反射光線を受信することができる。
少なくとも2つの光学発射装置から異なる発射経路の発射光線を発射するステップと、
光学受信装置によって、前記光学発射装置から放出される発射光線が障害物に当たった後に形成される少なくとも1つの反射光線を受信するステップと、を含む。
上述の説明は、本願の技術的解決策の概要に過ぎない。本願の技術的手段をより明確に理解し、明細書の内容に従ってそれらを実施するために、本願の好ましい実施例及び添付の図面を参照しながら、以下で詳しく説明する。
オプションで、光学受信装置2及び光学発射装置3の検出範囲は、2cm以内である。
S1、少なくとも2つの光学発射装置3から異なる発射経路の発射光線を発射するステップと、
S2、光学受信装置2によって、少なくとも1つの光学発射装置3から放出される発射光線が障害物に当たった後に形成される反射光線を受信するステップと、を含む。
Claims (4)
- 自己移動機器であって、車体と、前記車体上に配置された走行アセンブリと、前記車体内に配置された制御システムとを含み、前記自己移動機器は、前記車体上に配置された光学受信装置及び少なくとも2つの光学発射装置をさらに含み、前記少なくとも2つの光学発射装置から発射される発射光線の経路は異なり、前記光学受信装置は、少なくとも1つの前記光学発射装置から放出される発射光線が障害物に当たった後に形成される反射光線を受信し、
各前記光学発射装置によって発射される発射光線は、前記光学受信装置の中心線と夾角θを形成し、前記夾角は0°より大きく、
隣接する2つの前記光学発射装置のうち、前記光学受信装置から比較的遠い光学発射装置は、前記光学受信装置の中心線と第1夾角を形成し、前記光学受信装置に比較的近い光学発射装置は、前記光学受信装置の中心線と第2夾角を形成し、前記第1夾角は第2夾角よりも小さく、
前記少なくとも2つの光学発射装置は、前記光学受信装置の同じ側に配置され、
前記自己移動機器が障害物に近いほど、前記光学受信装置が受信する反射光線の面積が大きくなる、
る、ことを特徴とする自己移動機器。 - 前記少なくとも2つの前記光学発射装置から放出される発射光線の方向は、前記光学受信装置の中心線に向かってずれている、ことを特徴とする請求項1に記載の自己移動機器。
- 前記少なくとも2つの光学発射装置及び光学受信装置は、一列に配置される、ことを特徴とする請求項1又は2に記載の自己移動機器。
- 前記光学受信装置及び光学発射装置の検出範囲は、2cm以内であり、及び/または、前記少なくとも2つの光学発射装置及び光学受信装置は、1つの光モジュール内に集積される、ことを特徴とする請求項1に記載の自己移動機器。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010069251.0A CN111240336B (zh) | 2020-01-21 | 2020-01-21 | 自移动设备及其测距方法 |
CN202010069251.0 | 2020-01-21 | ||
PCT/CN2020/132523 WO2021147511A1 (zh) | 2020-01-21 | 2020-11-28 | 自移动设备及其测距方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2023502151A JP2023502151A (ja) | 2023-01-20 |
JP7274053B2 true JP7274053B2 (ja) | 2023-05-15 |
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Application Number | Title | Priority Date | Filing Date |
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JP2022542773A Active JP7274053B2 (ja) | 2020-01-21 | 2020-11-28 | 自己移動機器及びその測距方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220390956A1 (ja) |
EP (1) | EP4060447A4 (ja) |
JP (1) | JP7274053B2 (ja) |
KR (1) | KR20220104778A (ja) |
CN (2) | CN111240336B (ja) |
WO (1) | WO2021147511A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111240336B (zh) * | 2020-01-21 | 2021-12-28 | 追觅创新科技(苏州)有限公司 | 自移动设备及其测距方法 |
Citations (5)
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CN103941307A (zh) | 2014-01-13 | 2014-07-23 | 苏州爱普电器有限公司 | 一种清洁机器人及用于控制其避开障碍物的方法 |
CN103941735A (zh) | 2014-05-05 | 2014-07-23 | 苏州爱普电器有限公司 | 地面清洁机器人及用于控制其避开障碍物的方法 |
JP2015517162A (ja) | 2012-09-21 | 2015-06-18 | アイロボット コーポレイション | 移動式ロボットの近接検知 |
CN105223951A (zh) | 2015-09-14 | 2016-01-06 | 苏州爱普电器有限公司 | 自移动机器人 |
CN207020534U (zh) | 2017-05-31 | 2018-02-16 | 珠海市一微半导体有限公司 | 基于多红外的机器人避障装置 |
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US4659922A (en) * | 1985-02-19 | 1987-04-21 | Eaton Corporation | Optical sensor device for detecting the presence of an object |
JP3301436B1 (ja) * | 2001-06-05 | 2002-07-15 | 松下電器産業株式会社 | 自立走行装置 |
CN100388007C (zh) * | 2004-08-05 | 2008-05-14 | 南阳孚达光电技术有限公司 | 双筒望远镜式激光测距测速仪 |
KR20090019480A (ko) * | 2007-08-21 | 2009-02-25 | 에이스로봇 주식회사 | 로봇 청소기의 바닥 감지 방법 그리고 이에 적합한 로봇청소기 |
CN102645654B (zh) * | 2011-02-16 | 2014-03-12 | 和硕联合科技股份有限公司 | 距离检测装置及方法 |
CN103941734A (zh) * | 2014-04-29 | 2014-07-23 | 重庆大学 | 基于模糊逻辑的机器人沿墙行为的精准控制方法 |
CN107045352A (zh) * | 2017-05-31 | 2017-08-15 | 珠海市微半导体有限公司 | 基于多红外的机器人避障装置、其控制方法及机器人沿边控制方法 |
CN108983246B (zh) * | 2018-08-03 | 2023-07-11 | 珠海一微半导体股份有限公司 | 一种红外调制的障碍物检测装置、检测方法及机器人 |
CN109460024A (zh) * | 2018-11-13 | 2019-03-12 | 深圳市杉川机器人有限公司 | 一种扫地机器人 |
CN111240336B (zh) * | 2020-01-21 | 2021-12-28 | 追觅创新科技(苏州)有限公司 | 自移动设备及其测距方法 |
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2020
- 2020-01-21 CN CN202010069251.0A patent/CN111240336B/zh active Active
- 2020-01-21 CN CN202111523007.8A patent/CN114415660B/zh active Active
- 2020-11-28 US US17/773,010 patent/US20220390956A1/en active Pending
- 2020-11-28 JP JP2022542773A patent/JP7274053B2/ja active Active
- 2020-11-28 EP EP20915737.9A patent/EP4060447A4/en not_active Withdrawn
- 2020-11-28 KR KR1020227021017A patent/KR20220104778A/ko active Search and Examination
- 2020-11-28 WO PCT/CN2020/132523 patent/WO2021147511A1/zh active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2015517162A (ja) | 2012-09-21 | 2015-06-18 | アイロボット コーポレイション | 移動式ロボットの近接検知 |
CN103941307A (zh) | 2014-01-13 | 2014-07-23 | 苏州爱普电器有限公司 | 一种清洁机器人及用于控制其避开障碍物的方法 |
CN103941735A (zh) | 2014-05-05 | 2014-07-23 | 苏州爱普电器有限公司 | 地面清洁机器人及用于控制其避开障碍物的方法 |
CN105223951A (zh) | 2015-09-14 | 2016-01-06 | 苏州爱普电器有限公司 | 自移动机器人 |
CN207020534U (zh) | 2017-05-31 | 2018-02-16 | 珠海市一微半导体有限公司 | 基于多红外的机器人避障装置 |
Also Published As
Publication number | Publication date |
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KR20220104778A (ko) | 2022-07-26 |
JP2023502151A (ja) | 2023-01-20 |
EP4060447A1 (en) | 2022-09-21 |
CN111240336B (zh) | 2021-12-28 |
CN114415660B (zh) | 2023-08-08 |
US20220390956A1 (en) | 2022-12-08 |
WO2021147511A1 (zh) | 2021-07-29 |
CN114415660A (zh) | 2022-04-29 |
EP4060447A4 (en) | 2023-07-12 |
CN111240336A (zh) | 2020-06-05 |
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