CN106441306A - Intelligent life detecting robot with capabilities of independent positioning and map building - Google Patents
Intelligent life detecting robot with capabilities of independent positioning and map building Download PDFInfo
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- CN106441306A CN106441306A CN201610905625.1A CN201610905625A CN106441306A CN 106441306 A CN106441306 A CN 106441306A CN 201610905625 A CN201610905625 A CN 201610905625A CN 106441306 A CN106441306 A CN 106441306A
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- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 7
- 230000007958 sleep Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 4
- 230000005059 dormancy Effects 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 15
- 238000012545 processing Methods 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract 1
- 230000034994 death Effects 0.000 abstract 1
- 231100000517 death Toxicity 0.000 abstract 1
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- 238000000034 method Methods 0.000 description 7
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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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
- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent life detecting robot with capabilities of independent positioning and map building. A life detecting module is used for detecting life features in an environment, and feeding back an electrical signal to a micro-processing unit when a life is detected, and the micro-processing unit is used for controlling a remote alarm module to alarm; a positioning base station is used for providing real-time coordinate information of the robot in the located environment for a master controller and recording a historical movement track of the robot. The intelligent life detecting robot has the advantages that through application of a laser scanning module, on one hand, the robot can independently carry out life detection in a severe environment without remote control of people; on the other hand, a built environmental map can show indoor environmental information under the condition that no person enters the environment, and the rescue difficulty is reduced; through application of a positioning system, detected coordinate information of a to-be-rescued person in the environment is provided, and a historical detecting track of the robot is recorded, accordingly, the search and rescue efficiency of wounded personnel is improved and injuries and deaths of rescue workers in a high-risk environment are reduced.
Description
Technical field
The invention belongs to intelligent robot technology field, be related to one kind under severe indoor environment can intelligent barrier avoiding, from
The robot of main detection life entity, can return surrounding map while life entity is detected and show in map in real time
The coordinate position of robot itself and historical track record.
Background technology
No matter in production or in life, when there is serious geology or man power disaster, such as：Fire, high-risk chemistry
Product leakage, building subside, and the uncontrollability of rugged environment and secondary disaster is all brought to the work development of rescue personnel
Great difficulty, wastes the rescue time of preciousness, or even will also jeopardize the life security of rescue personnel.Therefore, Ren Menxi
Hope and rescue personnel can be helped using the robot with life detection function to come before rescue personnel is entered in incident building
Find and search and rescue target.
And in rescue field at this stage, be rarely employed such sniffing robot, and need more artificial remote
Journey is manipulated, it is impossible to mitigate the work load of rescue personnel further and reduction artificially manipulates the time loss for bringing.Traditional life
Life sniffing robot often only possesses the function of simple personnel to be rescued detection, and rescue personnel still cannot be obtained in disaster relief building
Environmental profiles and personnel to be rescued accurate location information in this context.
Content of the invention
It is an object of the invention to provide a kind of autonomous positioning and the intelligent life sniffing robot of map structuring, solve existing
Having present in technology, the problem of life entity is simply detected in terms of single.Intelligent barrier avoiding, the realization of autonomous detection life entity, subtract
The work load that light remote control brings, also shortens the detection time of life entity.The scene point cloud number of laser scanning system
According to collection, it is achieved that the map structuring of indoor environment, rescue personnel is helped to grasp more environmental informations.Meanwhile, alignment system will
The co-ordinate position information of the personnel to be rescued for detecting shows on environmental map indoors, and the history detection rail of recorder people
Mark, so that rescue personnel formulates effective rescue method.
The concrete technical scheme for realizing the object of the invention is：
The intelligent life sniffing robot of a kind of autonomous positioning and map structuring, it includes：Mobile system, terminal system and
Alignment system, mobile system is realized and terminal system, the two-way information interaction of alignment system by wireless connection, and alignment system is led to
Cross wirelessly and connect to terminal system unidirectional data transmission；Wherein, described mobile system include walking module, microprocessing unit,
Life detection module, remote alarmss module, laser scanning module, wireless module and positioning label model；Described terminal system
Including main control unit and wireless communication module；Described alignment system includes locating base station module and wireless data transfer module；
Wherein：
The walking module of the mobile system is made up of dolly, the direct current generator of driving dolly and motor drive module,
Motor drive module and direct current generator pass through wired connection, and on dolly；
The positioning label model of the mobile system is constituted by sleep block, modulation module, UWB transmitter module is started, and is opened
Dynamic sleep block, modulation module, UWB transmitter module are integrated by wire circuit；Start sleep block to be connected with modulation module, adjust
Molding block is connected with UWB transmitter module；
The laser scanning module of the mobile system includes laser scanning motor module and laser scanning logic module；Laser
Scan module module and laser scanning logic module pass through wired connection；
The locating base station module of the alignment system includes UWB receiver module and demodulation module, UWB receiver module and demodulation
Module is integrated by wire circuit, locating base station module and wireless data transfer module wired connection；
The main control unit of the terminal system and wireless communication module wired connection；
Described walking module, life detection module, remote alarmss module, wireless module, positioning label model, laser are swept
Module is retouched with microprocessing unit by wired connection, realize information exchange；The positioning label model of described mobile system passes through
Built-in UWB transmitter module sends UWB signal to the locating base station module of alignment system, and locating base station module is again by no line number
The information exchange with main control unit is realized according to transport module；The main control unit of terminal system will have been processed by wireless communication module
Information be sent to the microprocessing unit of mobile system, realize the control to mobile system；Wherein：
Laser scanning module is produced the planar point cloud cartographic information in place space and judges and surrounding by laser scanning
The distance of barrier and position；Distance that microprocessing unit is gathered using laser scanning module and positional information are controlling walking mould
Block realizes autonomous；The environment planar point cloud information that terminal system is gathered using laser scanning module is come with building surrounding
Figure；Vital signss in life detection module detection environment, when life is detected, the signal of telecommunication are fed back to microprocessing unit,
Microprocessing unit control remote alarmss module is reported to the police；Alignment system provides walking module in local environment to terminal system
Real-time coordinates information and log history movement locus.
The maximum communication distance of described wireless module is 150 meters, supports UART protocol data-transmission mode, and up to 1M delays
Space is deposited, highest supports baud rate 460800bps.
The infra-red radiation scope of described life detection module is 3～50 μm.
The laser scanning module has 360 degree of scanning area, and effectively range finding is 5～8 meters, distance and angular resolution
Respectively 10～15 millimeters and 0.5～1 degree.
The locating base station module positioning precision reaches 10～15 centimetres, and radio frequency bandwidth is 2～3GHz.
The renewal rate of the positioning label model label is 1～10Hz, and tag hub frequency is 6～7GHz.
The wireless module, wireless data transfer module and radio communication mold block structure are identical.
In the present invention, on the one hand using for laser scanning module make robot independently can be given birth in adverse circumstances
Life detection, without the remote control of very important person；On the other hand the environmental map for building can be in the case of entering without personnel
Represent indoor environment information, be conducive to the formulation of rescue strategies, reduce the difficulty of rescue.
Alignment system with provide not only the personnel to be rescued that detect coordinate information in the environment, be also recorded for machine
The history detection track of device people, reduces the wound of rescue personnel under high-risk environment while improve wounded's search-and-rescue work efficiency
Die.
Description of the drawings
Fig. 1 is present configuration block diagram；
Fig. 2 is mobile system structured flowchart of the present invention；
Fig. 3 is terminal system structured flowchart of the present invention；
Fig. 4 is positioning system structure block diagram of the present invention；
Fig. 5 is laser scanning module of the present invention and microprocessing unit Communication Graph；
Fig. 6 is UWB signal positioning flow figure of the present invention；
Fig. 7 is autonomous positioning range measurement principle figure of the present invention；
Fig. 8 is the map structuring flow chart of laser scanning module of the present invention.
Specific embodiment
In order to make it easy to understand, the intelligence to a kind of autonomous positioning according to the present invention with map structuring is given birth to below in conjunction with the accompanying drawings
The embodiment of life sniffing robot is further elucidated with.
Structure below in conjunction with the accompanying drawings to the present invention, operation principle and work process are described in detail：
Fig. 1 is present configuration block diagram.
Refering to Fig. 1, the present invention includes mobile system 1, terminal system 2,3 three digest journals of alignment system, and mobile system 1 passes through
Wireless connection is realized and terminal system 2, the two-way information interaction of alignment system 3, and alignment system 3 is by wirelessly connecting to terminal system
Unite 2 unidirectional data transmission.
Fig. 2 is mobile system structured flowchart of the present invention.
Refering to Fig. 2, mobile system 1 is by life detection module 11, remote alarmss module 12, laser scanning module 13, walking
Module 14, microprocessing unit 15, positioning label model 16, wireless module 17 constitute.Wherein, the laser scanning module 13 includes
Laser scanning motor module 131 and laser scanning logic module 132；Described walking module by dolly 141, drive dolly straight
Stream motor 142 and motor drive module 143 constitute, and motor drive module 143 and direct current generator 142 pass through wired connection, and
On dolly 141；Described positioning label model 16 is by startup sleep block 161, modulation module 162, UWB transmitter module
163 compositions.
Microprocessing unit 15 controls direct current generator 142 by controlling the motor drive module 143 in walking module 14
Rotating speed, the motion so as to realize intelligent carriage is turned to, and during traveling, laser scanning module 13 is in real time to preceding object thing
Carry out data acquisition and microprocessing unit 15 returned, microprocessing unit 15 judges the position of preceding object thing by return signal,
And drive direct current generator 142 to carry out avoidance action, realize the autonomous life detection of robot.As laser scanning module 13 is adopted
The data of collection are point sets, are sent to after terminal system 2 by wireless module 17, then carry except carrying out feature after roguing point after filtering
Take, for building the environmental map around intelligent carriage.At the same time, the positioning label model that alignment system 3 pairs is being monitored
16 are determined, and the azimuth information of the positioning label model 16 for getting is sent to terminal system 2, so as in terminal system
The positional information of positioning label model 16 can be shown in 2 environmental map coordinate system in real time.When life detection module 11 is visited
When measuring life entity, microprocessing unit 15 will control remote alarmss module 12 to send alarm, and pass through wireless module 17 by alarm
It is sent to terminal system 2.Will be little to the position coordinateses and intelligence that show the life entity for detecting on the environmental map of terminal system 2
The historical movement track record of car.
Mobile system 1 is mainly completed using integrated circuit in circuit design, the particularly master control of microprocessing unit 15
Chip is to adopt the Atmel Atmega328 single-chip microcomputer based on Arduino platform.The good stability of main control chip, response speed
Hurry up, in a digital manner process signal, distortion is exported so as to solve waveform present in prior art, measurement error is many, program control
Reaction is slow.As main control chip adopts the Arduino open platform with VLSI Design, so as to solve system
Hardware designs complexity, volume heaviness, it is difficult to the problems such as reaching compared with high control precision.The master chip of motor drive module 143 is
L298N, can directly drive two-way direct current generator, so that whole mobile system 1 is maintained under relatively low power consumption and work.Wireless module
17 using the nRF24L01 chip for being Nordic company, with being switched fast and wakeup time for 130 μ s, work in 2.4GHz～
2.5GHz ISM band, it is 10Mb/s that data transmission rate is 2Mb/s, maximum SPI speed, due to having merged enhancement mode
ShockBurst technology, thus its communication channel can be configured by program, not only can be used to realize microprocessing unit 15 with
The data communication of terminal system 2, may further be used to realize the data transfer between mobile system 1 and alignment system 2.
Fig. 3 is terminal system structured flowchart of the present invention.
Refering to Fig. 3, terminal system 2 includes wireless communication module 21 and main control unit 22.Main control unit 22 carries out overall number
According to analysis, locate that reason wireless communication module 21 receives including mobile system 1 and the data of alignment system 3.Main control unit 22 exists
After receiving the data of mobile system 1, it is filtered except roguing point and feature extraction, for building the ring around mobile system 1
Condition figure.Main control unit shows mobile system 1 in real time further through the data for receiving alignment system 3, on the environmental map for building
Position.
Fig. 4 is positioning system structure block diagram of the present invention.
Refering to Fig. 4, alignment system 3 is made up of locating base station module 31 and wireless data transfer module 32.Wherein, base is positioned
Module of standing 31 includes UWB receiver module 311 and demodulation module 312.Alignment system 3 receives movement by UWB receiver module 311
The UWB signal that system 1 is launched, and the position of mobile system 1, then the position by mobile system 1 is determined according to multiple UWB signal
Information is sent to terminal system 2 by wireless data transfer module 32.
The design core of the present invention is to realize intelligent detecting, autonomous positioning and environmental map to build, and specific implementation process is such as
Under：
(1) intelligent detecting
Fig. 5 is laser scanning module and microprocessing unit Communication Graph.As shown in figure 5, microprocessing unit 15 passes through Transistor-Transistor Logic level
UART rs 232 serial interface signal communicated with the range finding core of laser scanning module 13.Laser scanning module 13 is used
The inexpensive two-dimensional laser radar resolution RPLIDAR of RoboPeak team exploitation.Microprocessing unit 15 is sent to RPLIDAR
Request message, RPLIDAR has executed corresponding to the transmission response message of microprocessing unit 15 after processing.Only in microprocessing unit
After 15 have sent the request for starting to scan range finding, RPLIDAR can just start scanning work.RPLIDAR employs laser triangulation survey
Away from technology, the iraser signal through ovennodulation can be launched, the signal produce after target object is irradiated to reflective will be by
The vision collecting module of RPLIDAR is received, and through the dsp processor real-time resolving being embedded in inside RPLIDAR, is irradiated to
Target object will be exported to microprocessing unit 15 by communication interface with the distance value of RPLIDAR and current angle signal,
Microprocessing unit 15 is according to the particular location of the data value disturbance in judgement thing for returning, and the then steering of controlled motor, so as to realize
Intelligent barrier avoiding function.
Life detection module 11 can concentrate the infrared ray that detection infra-red radiation is 3～50 μm, and human body skin is infrared
Radiation scope is also that 3～50 μm, wherein 8～14 μm account for whole human body radiation energy 46%, therefore when life detection module 11
In the infra-red radiation for detecting, when the infra-red radiation of 8～14 mum wavelengths accounts for the 40%～50% of all infrared energies, micro-
Processing unit 15 will control remote alarmss module 12 to send alarm.
(2) autonomous positioning
Fig. 6 is UWB signal positioning flow figure.As shown in fig. 6, UWB signal positioning according to the present invention, including following step
Suddenly：1. start：Microprocessor 15 is adjusted to work by label model 16 is positioned from resting state by controlling startup sleep block 161
State；Modulation module 162 is processed to base-band informations such as the marks of label, is then transmitted to by UWB transmitter module 163
UWB receiver module 311；
2. demodulate：The UWB signal that demodulation module 312 is received to UWB receiver module 311 is demodulated, to monitoring
Positioning label model 16 be determined, and obtain the azimuth information of label；
3. position：The wireless data transfer module 32 of alignment system 3 measures positioning label model locating base station module 31
16 accurate location information is sent to terminal system 2, is further processed by terminal system 2；
4. monitor in real time：The positioning that the 21 receiving radio data transport module of wireless communication module 32 of terminal system 2 sends
16 azimuth information of label model, carries out cross bearing process to the azimuth information for obtaining in real time, obtains accurately that positional information is simultaneously
Present in two-dimensional coordinate system, realize the monitor in real time of positioning label model 16.
In order to avoid the measurement error that is come due to the clock difference band of locating base station module 31 and positioning label model 16, this
The actual range between the single locating base station module 31 of measurement and positioning label model 16 is sent in invention using bidirectional ranging.
Fig. 7 is autonomous positioning range measurement principle figure.As shown in fig. 7, setting timing time (the from node A transmission range finding number of node A
According to B receiving data is arrived, and return total time of the acknowledgement frame to node A) for TA, node B timing time (receive A transmission
Ranging data simultaneously returns time of acknowledgement frame) for TreplyBIf the propagation delay of distance measuring signal is TR, according to TWR range finding model,
We can draw following computing formula：
TA=2TR+TreplyB(1)
Can be released by formula (1)：
Unknown node can be obtained by the distance of base station according to formula (2)：
In the present invention, positioning label model 16 is belonging to a part for mobile system 1, therefore real in two-dimensional coordinate system
When the coordinate information that shows be position of the mobile system 1 in whole environment.When life detection module 11 detects life entity
When, the distance between the intelligent carriage that laser scanning module 13 is measured by microprocessing unit 15 and life entity are led to angle information
Cross wireless module 17 and terminal system 2 is transferred to, on the human-computer interaction interface of terminal system 2, just can show life entity in the environment
Coordinate information.
(3) environmental map builds
Fig. 8 is the map structuring flow chart of laser scanning module.As shown in figure 8, laser scanning module 13 will be collected
Laser initial data is transferred to terminal system 2 by wireless module 17.As the data gathered by RPLIDAR are point sets, terminal
System 2 is filtered and feature extraction after initial data is received, then the data after processing to feature extraction carry out line segment plan
Closing, you can output map, final intelligent carriage environmental map is obtained by carrying out mating to the map of different angle scannings.By
Under structural environment indoors, the present invention selects straight line to carry out constructing environment map as feature.First by sweeping under indoor environment
Retouch model to be represented with some sections of approximate straightways, then calculate each point in Current Scan model each straight in scan model
Minimum distance in line segment distance, and the similarity in this, as each scanning element to reference model, then will be accorded with using clustering procedure
The point for closing target characteristic is merged into a line segment.After a plurality of line segment is obtained, using method of least square, obtained line segment is entered
Row fitting just can represent the environment of intelligent carriage so as to obtain actual linear feature with the straight line after fitting.Finally, terminal
System 2 is obtained final environmental map after being mated by the map for scanning laser scanning module 13 from different perspectives.
So, the coordinate information of intelligent carriage and the life entity for detecting just is can be displayed in environmental map, and intelligent carriage is real-time
The display of coordinate position can generate the movement locus of itself, and these movement locus are stored in main control unit, are conveniently called and are looked into
Ask.
Claims (7)
1. the intelligent life sniffing robot of a kind of autonomous positioning and map structuring, it is characterised in that it includes：Mobile system, end
End system and alignment system, mobile system is realized and terminal system, the two-way information interaction of alignment system by wireless connection, fixed
Position system is by wirelessly connecting to terminal system unidirectional data transmission；Wherein, described mobile system includes walking module, Wei Chu
Reason unit, life detection module, remote alarmss module, laser scanning module, wireless module and positioning label model；Described end
End system includes main control unit and wireless communication module；Described alignment system includes locating base station module and wireless data transmission
Module；Wherein：
The walking module of the mobile system is made up of dolly, the direct current generator of driving dolly and motor drive module, motor
Drive module and direct current generator pass through wired connection, and on dolly；
The positioning label model of the mobile system is constituted by sleep block, modulation module, UWB transmitter module is started, and startup is stopped
Dormancy module, modulation module, UWB transmitter module are integrated by wire circuit；Start sleep block to be connected with modulation module, modulate mould
Block is connected with UWB transmitter module；
The laser scanning module of the mobile system includes laser scanning motor module and laser scanning logic module；Laser scanning
Motor module and laser scanning logic module pass through wired connection；
The locating base station module of the alignment system includes UWB receiver module and demodulation module, UWB receiver module and demodulation module
Integrated by wire circuit, locating base station module and wireless data transfer module wired connection；
The main control unit of the terminal system and wireless communication module wired connection；
Described walking module, life detection module, remote alarmss module, wireless module, positioning label model, laser scanning mould
Block passes through wired connection with microprocessing unit, realizes information exchange；The positioning label model of described mobile system is by built-in
UWB transmitter module send UWB signal to the locating base station module of alignment system, locating base station module passed by wireless data again
Defeated module realizes the information exchange with main control unit；The main control unit of terminal system passes through wireless communication module by the letter for having processed
Breath is sent to the microprocessing unit of mobile system, realizes the control to mobile system；Wherein：
Laser scanning module is produced the planar point cloud cartographic information in place space and judges and surrounding obstacles by laser scanning
The distance of thing and position；Distance that microprocessing unit is gathered using laser scanning module and positional information are controlling walking module reality
Existing autonomous；The environment planar point cloud information that terminal system is gathered using laser scanning module is building surrounding map；
Vital signss in life detection module detection environment, when life is detected, the signal of telecommunication are fed back to microprocessing unit, micro- place
Reason unit control remote alarmss module is reported to the police；Alignment system provides reality of the walking module in local environment to terminal system
When coordinate information log history movement locus.
2. intelligent life sniffing robot as claimed in claim 1, it is characterised in that：The maximum communication of described wireless module
Distance is 150 meters, supports UART protocol data-transmission mode, up to 1M spatial cache, and highest supports baud rate 460800bps.
3. intelligent life sniffing robot as claimed in claim 1, it is characterised in that：Described life detection module infrared
Radiation scope is 3 ~ 50 μm.
4. intelligent life sniffing robot as claimed in claim 1, it is characterised in that：The laser scanning module has 360
The scanning area of degree, effectively range finding are that 5 ~ 8 meters, distance and angular resolution are respectively 10 ~ 15 millimeters and 0.5 ~ 1 degree.
5. intelligent life sniffing robot as claimed in claim 1, it is characterised in that：The locating base station module positioning precision
10 ~ 15 centimetres are reached, radio frequency bandwidth is 2 ~ 3GHz.
6. intelligent life sniffing robot as claimed in claim 1, it is characterised in that：The positioning label model label is more
It is 6 ~ 7GHz that new speed is 1 ~ 10Hz, tag hub frequency.
7. intelligent life sniffing robot as claimed in claim 1, it is characterised in that：The wireless module, wireless data are passed
Defeated module and wireless communication module have identical structure.
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| CN107907876A (en) * | 2017-11-27 | 2018-04-13 | 合肥通彩自动化设备有限公司 | A kind of laser orientation system and method |
| CN108803620A (en) * | 2018-07-25 | 2018-11-13 | 梁步阁 | A kind of UWB positioning systems for robot |
| CN108896956A (en) * | 2018-06-07 | 2018-11-27 | 邢敬宏 | A kind of automatic guide vehicle positioning system and method based on ultra wide band |
| CN108961646A (en) * | 2018-08-01 | 2018-12-07 | 江苏警官学院 | A kind of fire disaster alarming device |
| CN110244702A (en) * | 2018-03-07 | 2019-09-17 | 罗伯特·博世有限公司 | For generating or updating the method and positioning system of ambient enviroment map |
| CN110352392A (en) * | 2017-03-03 | 2019-10-18 | 洋马株式会社 | Operation image display system |
| CN110955263A (en) * | 2019-12-31 | 2020-04-03 | 中国电子科技集团公司信息科学研究院 | Active sensing and autonomous approaching method of mobile robot and mobile robot system |
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