CN109062218B - Method and device for controlling robot driving path - Google Patents
Method and device for controlling robot driving path Download PDFInfo
- Publication number
- CN109062218B CN109062218B CN201810997699.1A CN201810997699A CN109062218B CN 109062218 B CN109062218 B CN 109062218B CN 201810997699 A CN201810997699 A CN 201810997699A CN 109062218 B CN109062218 B CN 109062218B
- Authority
- CN
- China
- Prior art keywords
- robot
- path
- switch
- scene map
- route
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000010586 diagram Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000013499 data model Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Landscapes
- 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)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of internet, in particular to a method and a device for controlling a robot running path, which are applied to a service terminal, wherein the service terminal is used for controlling a robot, and a scene map is prestored in the service terminal. The method comprises the following steps: the method comprises the steps of determining a running route of a robot on a scene map according to a starting place and a destination of the robot, further determining whether the robot needs to switch the route according to the running route, if the robot needs to switch the route, setting a shunting virtual wall at the position of the route needing to be switched in the scene map of the robot to limit the robot to switch the route, and if the robot does not need to switch the route, setting a direct current virtual wall according to the running route in the scene map of the robot to limit the robot to move straightly. Therefore, the driving route of the robot can be interfered by the service terminal at the bifurcation junction on the basis of autonomous navigation of the robot through the driving route of the robot, so that the plurality of robots are prevented from being blocked.
Description
Technical Field
The invention relates to the technical field of internet, in particular to a method and a device for controlling a robot running path.
Background
With the development of science and technology, robots are applied more and more frequently in life of people, such as patrolling with the robots, serving with the robots, and the like. Due to the fact that the road conditions in the current actual life scene are complex, even if the robot can conduct autonomous navigation, when a plurality of robots move, the robots are easy to block each other at the intersection if only the robots autonomously avoid obstacles at the branch intersection. Therefore, it is necessary to provide a method for controlling the travel path of the robot in order to avoid the occurrence of a jam when a plurality of robots switch intersections and to increase the capacity of the robots in the same direction.
Disclosure of Invention
The invention aims to provide a method for controlling a robot running path, which is used for controlling the running path of a robot to avoid blockage among a plurality of robots.
Another object of the present invention is to provide a device for controlling a travel path of a robot, so as to prevent a plurality of robots from being blocked by controlling the travel path of the robot.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for controlling a robot travel path, where the method is applied to a service terminal, the service terminal controls a robot, and a scene map is prestored in the robot, and the method includes: determining a driving route of the robot on the scene map according to the starting place and the destination of the robot; determining whether the robot needs to switch paths according to the driving route; if the robot needs to switch the path, setting a shunting virtual wall at the position of the path needing to be switched in a scene map of the robot so as to limit the robot to switch the path; and if the robot does not need to switch paths, setting a direct current virtual wall in a scene map of the robot according to the driving route so as to limit the robot to move straightly.
In a second aspect, an embodiment of the present invention further provides a device for controlling a travel path of a robot, where the device is applied to a service terminal, the service terminal controls the robot, and a scene map is prestored in the robot, and the device includes: the planning module is used for determining a driving route of the robot on the scene map according to the starting place and the destination of the robot; the judging module is used for determining whether the robot needs to switch paths according to the driving route; if the robot needs to switch the path, setting a shunting virtual wall at the position of the path needing to be switched in a scene map of the robot so as to limit the robot to switch the path; and if the robot does not need to switch paths, setting a direct current virtual wall in a scene map of the robot according to the driving route so as to limit the robot to move straightly.
The method and the device for controlling the robot running path are applied to a service terminal, the robot is controlled through the service terminal, and a scene map is prestored in the service terminal. The method comprises the following steps: the method comprises the steps of determining a running route of a robot on a scene map according to a starting place and a destination of the robot, further determining whether the robot needs to switch the route according to the running route, if the robot needs to switch the route, setting a shunting virtual wall at the position of the route needing to be switched in the scene map of the robot to limit the robot to switch the route, and if the robot does not need to switch the route, setting a direct current virtual wall according to the running route in the scene map of the robot to limit the robot to move straightly. Therefore, the driving route of the robot can be interfered by the service terminal at the bifurcation junction on the basis of autonomous navigation of the robot through the driving route of the robot, so that the plurality of robots are prevented from being blocked.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart illustrating a method for controlling a travel path of a robot according to an embodiment of the present invention.
Fig. 2 shows a schematic diagram of a robot driving route provided by the embodiment of the invention.
Fig. 3 is a schematic diagram illustrating functional modules of a device for controlling a travel path of a robot according to an embodiment of the present invention.
The figure is as follows: 210-shunting virtual walls; 220-direct current virtual wall; 230-co-directional path; 240-split interaction points; 100-a means of controlling the path of travel of the robot; 110-a planning module; 120-a judgment module; 130-definition module; 140-control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The method for controlling the robot driving path provided by the embodiment of the invention is applied to the service terminal, and the service terminal can be, but is not limited to, intelligent electronic equipment such as a server and a desktop computer, and the robot driving path can be interfered by the service terminal. The multiple robots can be used for carrying out services such as patrol or meal delivery in daily life of people, but the multiple robots still have blocking risks, and the problem that the robots constantly and autonomously plan paths and turn around due to mutual blocking of the robots still occurs.
Referring to fig. 1, a flow chart of a method for controlling a travel path of a robot according to an embodiment of the present invention is shown, where the method includes:
and step S110, determining a driving route of the robot on the scene map according to the starting place and the destination of the robot.
Specifically, the user can input a start location and a destination of the robot in the service terminal, a scene map is stored in the robot, and the service terminal generates a driving route according to the start location and the destination input by the user and displays the driving route in the scene map stored in the robot.
And step S120, determining whether the robot needs to switch paths according to the driving route.
That is, the service terminal determines whether the robot needs to turn at each intersection along the road based on the travel route, and if the robot needs to turn, it proves that the robot needs to switch the route. As shown in fig. 2, which is a schematic diagram of a robot driving route according to an embodiment of the present invention, it can be seen that a direction indicated by an arrow in the diagram is an original traveling direction of the robot, and if the robot needs to turn to enter a bypass beside the robot, it indicates that the robot needs to switch a path, and whether the robot needs to switch a path may be determined by the service terminal according to the determined robot driving route.
Step S130, if the robot needs to switch the path, a shunting virtual wall is set at the position of the path that needs to be switched in the scene map of the robot to limit the robot to switch the path.
As shown in fig. 2, the service terminal determines virtual lanes that the robot needs to pass through according to the traveling route of the robot, each virtual lane is provided with a plurality of equidirectional paths 230, each robot selects one equidirectional path 230 and moves forward along the selected equidirectional path 230, and one virtual lane can accommodate a plurality of robots to pass through simultaneously. When the robot travels along the equidirectional path 230, autonomous navigation and obstacle avoidance can be performed, and it is easy to understand that the robot can switch to another equidirectional path to continue to move forward in order to realize better obstacle avoidance.
If the driving route determined by the robot indicates that the robot needs to switch the route, that is, needs to enter a branch, the service terminal sets a virtual shunting wall 210 at the position where the robot needs to switch the route to limit the robot to continue to move forward and enter a preset shunting road.
And step S140, defining the straight path and the path to be switched of the robot as a flow distribution junction.
It should be noted that the straight path and the path to be switched of the robot are defined as a flow dividing junction 240, the flow dividing junction is used for connecting the straight path and the flow dividing path, the arrangement is to reduce mutual blocking between the robot to be straight and the robot to be flow divided, and preferably, the flow dividing junction 240 is arranged at a position where the straight path and the flow dividing path intersect at the earliest in the advancing direction. That is, the service terminal will control the robot to switch the path at the diversion intersection 240, so as to avoid the robot to be driven to different directions from being blocked.
Further, the manner of setting the flow distribution junction specifically is as follows: the data model of the flow distribution junction is as follows:
wherein, a is a straight path, B is a branch path, C1 is the serial number of the intersection in the set a, and C2 is the serial number of the intersection in the set B.
And S150, controlling the robot to stop at the path switched at the flow distribution junction.
That is, for the robot needing to switch paths, the total path actually traveled is the sum of the distance from the start point to the diversion intersection point and the distance from the diversion intersection point to the destination. It is easy to understand that for a robot, it may need to switch paths many times, and the total path is the sum of the distance between the starting point and the shunting junction, the distance between the shunting junction and the next shunting junction, and the distance between the last shunting junction and the destination.
Step S160, if the robot does not need to switch paths, setting a direct current virtual wall in a scene map of the robot according to the driving route to limit the robot to go straight.
Specifically, if the robot does not need to switch the path, the service terminal sets a direct current virtual wall 220 in a scene map of the robot according to the driving route of the robot, and the robot is limited by the direct current virtual wall 220 not to enter the branch intersection due to shunting, and not to enter the branch intersection due to obstacle avoidance, so as to effectively prevent the risk of the robot blocking at the shunting position. In addition, if a plurality of robots need to travel in the same direction at the same time, since obstacle recognition can be performed between the robots, when the robots detect that other robots exist in front, the robots can automatically queue up to avoid the situation that the robots traveling in the same direction block.
Therefore, according to the method for controlling the running path of the robot provided by the embodiment of the invention, the personalized running path is planned for the robot according to the starting place and the destination of the robot, and when the robot needs to switch the path, a shunting virtual wall is arranged on the running path of the robot, so that the robot is controlled to start switching the path at a shunting intersection point and does not exceed the shunting virtual wall at the latest, and the blockage with a straight robot is avoided; if the robot does not need to switch the path, a direct current virtual wall is arranged on the robot traveling path so that the robot does not enter the branching path. Meanwhile, for the robot running in the same direction, the robot can also automatically avoid obstacles through a self mechanism. Furthermore, the scheme realizes effective intervention of the robots, so that the robots can effectively run according to a preset path without being blocked.
Referring to fig. 3, a functional module diagram of an apparatus 100 for controlling a robot travel path according to an embodiment of the present invention is shown, the apparatus including a planning module 110, a determining module 120, a defining module 130, and a control module 140.
A planning module 110, configured to determine a driving route of the robot on the scene map according to a starting location and a destination of the robot.
In an embodiment of the present invention, step S110 may be performed by the planning module 110.
A judging module 120, configured to determine whether the robot needs to switch a path according to the driving route;
if the robot needs to switch the path, setting a shunting virtual wall at the position of the path needing to be switched in a scene map of the robot so as to limit the robot to switch the path;
and if the robot does not need to switch paths, setting a direct current virtual wall in a scene map of the robot according to the driving route so as to limit the robot to move straightly.
In the embodiment of the present invention, the steps S120, S130, and S160 may be executed by the determining module 120.
And a defining module 130, configured to define that the straight path of the robot and the path to be switched are a diversion junction.
In the embodiment of the present invention, step S140 may be performed by the definition module 130.
And a control module 140, configured to control the robot to stop entering a switching path at the flow diversion junction.
In the embodiment of the present invention, step S150 may be performed by the control module 140.
Since the method for controlling the travel path of the robot is partially described in detail, it is not described herein.
In summary, the method and apparatus for controlling a robot travel path according to the embodiments of the present invention are applied to a service terminal, where the service terminal controls a robot, and a scene map is prestored in the service terminal. The method comprises the following steps: the method comprises the steps of determining a running route of a robot on a scene map according to a starting place and a destination of the robot, further determining whether the robot needs to switch the route according to the running route, if the robot needs to switch the route, setting a shunting virtual wall at the position of the route needing to be switched in the scene map of the robot to limit the robot to switch the route, and if the robot does not need to switch the route, setting a direct current virtual wall according to the running route in the scene map of the robot to limit the robot to move straightly. Therefore, the driving route of the robot can be interfered by the service terminal at the bifurcation junction on the basis of autonomous navigation of the robot through the driving route of the robot, so that the plurality of robots are prevented from being blocked.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (8)
1. A method for controlling a robot driving path is applied to a service terminal, the service terminal controls a robot, and a scene map is prestored in the robot, and the method is characterized by comprising the following steps:
determining a driving route of the robot on the scene map according to the starting place and the destination of the robot, wherein the driving route is used for determining virtual channels required to be passed by the robot, and each virtual channel accommodates a plurality of robots to pass through simultaneously;
determining whether the robot needs to switch paths according to the driving route;
if the robot needs to switch the path, setting a shunting virtual wall at the position of the path needing to be switched in a scene map of the robot so as to limit the robot to switch the path;
defining the straight path of the robot and the path to be switched as a flow distribution junction;
controlling the robot to stop entering a switched path at the flow distribution junction;
and if the robot does not need to switch paths, setting a direct current virtual wall in a scene map of the robot according to the driving route so as to limit the robot to move straightly.
2. The method of claim 1, wherein the total path of the robot requiring path switching is the sum of the distance from the origin to the diversion intersection and the distance from the diversion intersection to the destination.
3. The method of claim 1, wherein the method further comprises:
a starting location and a destination of the robot are obtained.
4. The method of claim 1, wherein a plurality of channels are defined in the scene map, each channel providing a plurality of co-directional paths, the method further comprising:
and controlling the robot to travel along one of the plurality of equidirectional paths.
5. A device for controlling a robot traveling path is applied to a service terminal, the service terminal controls a robot, and a scene map is prestored in the robot, and the device is characterized by comprising:
the planning module is used for determining a driving route of the robot on the scene map according to the starting place and the destination of the robot, the driving route is used for determining virtual channels required to be passed by the robot, and each virtual channel accommodates a plurality of robots to pass through simultaneously;
the judging module is used for determining whether the robot needs to switch paths according to the driving route;
if the robot needs to switch the path, setting a shunting virtual wall at the position of the path needing to be switched in a scene map of the robot so as to limit the robot to switch the path;
the defining module is used for defining the straight path of the robot and the path to be switched as a flow distribution junction;
the control module is used for controlling the robot to stop entering a switching path at the flow distribution junction;
the judging module is further configured to set a direct current virtual wall in a scene map of the robot according to the driving route to limit the robot to move straight if the robot does not need to switch paths.
6. The apparatus of claim 5, wherein the total path of the robot to be switched is the sum of the distance from the start point to the diversion intersection point and the distance from the diversion intersection point to the destination.
7. The apparatus of claim 5, wherein the planning module is further to:
a starting location and a destination of the robot are obtained.
8. The apparatus of claim 5, wherein a plurality of lanes are defined in the scene map, each lane providing a plurality of co-directional paths along which the robot will travel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997699.1A CN109062218B (en) | 2018-08-29 | 2018-08-29 | Method and device for controlling robot driving path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997699.1A CN109062218B (en) | 2018-08-29 | 2018-08-29 | Method and device for controlling robot driving path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109062218A CN109062218A (en) | 2018-12-21 |
| CN109062218B true CN109062218B (en) | 2021-09-10 |
Family
ID=64758585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810997699.1A Active CN109062218B (en) | 2018-08-29 | 2018-08-29 | Method and device for controlling robot driving path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109062218B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360808B (en) * | 2018-12-25 | 2021-12-17 | 深圳市优必选科技有限公司 | Method and device for controlling robot to move and robot |
| CN109683614B (en) * | 2018-12-25 | 2021-08-13 | 青岛慧拓智能机器有限公司 | Vehicle path control method and device for unmanned mining vehicle |
| CN109991981A (en) * | 2019-04-04 | 2019-07-09 | 尚科宁家(中国)科技有限公司 | A kind of sweeping robot recharging method |
| CN112631267B (en) * | 2019-10-09 | 2023-01-24 | 苏州宝时得电动工具有限公司 | Automatic walking equipment control method and automatic walking equipment |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101852621A (en) * | 2009-03-31 | 2010-10-06 | 阿尔派株式会社 | Navigation device and track search method thereof |
| WO2014175592A1 (en) * | 2013-04-23 | 2014-10-30 | Samsung Electronics Co., Ltd. | Moving robot, user terminal apparatus and control method thereof |
| CN203931190U (en) * | 2014-05-29 | 2014-11-05 | 陈红霞 | Traffic lights virtual wall |
| CN104541218A (en) * | 2012-09-27 | 2015-04-22 | 皇家飞利浦有限公司 | Autonomous mobile robot and method for operating the same |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
| CN105867364A (en) * | 2015-01-23 | 2016-08-17 | 燕成祥 | System and method for restricting movement behaviors of robot |
| CN106679669A (en) * | 2016-12-30 | 2017-05-17 | 深圳优地科技有限公司 | Mobile robot path planning method and system |
| CN106843230A (en) * | 2017-03-24 | 2017-06-13 | 上海思岚科技有限公司 | It is applied to the virtual wall system and its implementation of mobile device |
| CN107436148A (en) * | 2016-05-25 | 2017-12-05 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot navigation method and device based on more maps |
| CN107450567A (en) * | 2017-09-25 | 2017-12-08 | 芜湖智久机器人有限公司 | A kind of AGV trolley control systems for being used for warehouse or workshop automatic transportation |
| CN107644273A (en) * | 2017-09-27 | 2018-01-30 | 上海思岚科技有限公司 | A kind of navigation path planning method and equipment |
| CN107921980A (en) * | 2015-11-25 | 2018-04-17 | 深圳市坐标系交通技术有限公司 | Track switch control method and system |
| CN107967500A (en) * | 2017-10-18 | 2018-04-27 | 旗瀚科技有限公司 | A kind of scheduling system of more magnetic navigation meal delivery robots |
| CN108180908A (en) * | 2017-11-28 | 2018-06-19 | 青岛海通机器人系统有限公司 | Robot navigation method and robot |
| CN108255181A (en) * | 2018-01-29 | 2018-07-06 | 广州市君望机器人自动化有限公司 | Reverse car seeking method and computer readable storage medium based on robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7974738B2 (en) * | 2006-07-05 | 2011-07-05 | Battelle Energy Alliance, Llc | Robotics virtual rail system and method |
| DE102014226084A1 (en) * | 2014-12-16 | 2016-06-16 | Robert Bosch Gmbh | Method for mapping a working surface for autonomous robotic vehicles |
| CN108303980A (en) * | 2018-01-16 | 2018-07-20 | 上海木爷机器人技术有限公司 | The system and method for virtual wall figure layer is realized based on robot |
| CN108422419A (en) * | 2018-02-09 | 2018-08-21 | 上海芯智能科技有限公司 | A kind of intelligent robot and its control method and system |
| CN108382458B (en) * | 2018-02-28 | 2020-06-16 | 广州市君望机器人自动化有限公司 | Moving mechanism and movement control method |
-
2018
- 2018-08-29 CN CN201810997699.1A patent/CN109062218B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101852621A (en) * | 2009-03-31 | 2010-10-06 | 阿尔派株式会社 | Navigation device and track search method thereof |
| CN104541218A (en) * | 2012-09-27 | 2015-04-22 | 皇家飞利浦有限公司 | Autonomous mobile robot and method for operating the same |
| WO2014175592A1 (en) * | 2013-04-23 | 2014-10-30 | Samsung Electronics Co., Ltd. | Moving robot, user terminal apparatus and control method thereof |
| CN203931190U (en) * | 2014-05-29 | 2014-11-05 | 陈红霞 | Traffic lights virtual wall |
| CN105867364A (en) * | 2015-01-23 | 2016-08-17 | 燕成祥 | System and method for restricting movement behaviors of robot |
| CN105005305A (en) * | 2015-07-22 | 2015-10-28 | 上海思依暄机器人科技有限公司 | Controlled robot, remote control device, robot system and applicable method |
| CN107921980A (en) * | 2015-11-25 | 2018-04-17 | 深圳市坐标系交通技术有限公司 | Track switch control method and system |
| CN107436148A (en) * | 2016-05-25 | 2017-12-05 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot navigation method and device based on more maps |
| CN106679669A (en) * | 2016-12-30 | 2017-05-17 | 深圳优地科技有限公司 | Mobile robot path planning method and system |
| CN106843230A (en) * | 2017-03-24 | 2017-06-13 | 上海思岚科技有限公司 | It is applied to the virtual wall system and its implementation of mobile device |
| CN107450567A (en) * | 2017-09-25 | 2017-12-08 | 芜湖智久机器人有限公司 | A kind of AGV trolley control systems for being used for warehouse or workshop automatic transportation |
| CN107644273A (en) * | 2017-09-27 | 2018-01-30 | 上海思岚科技有限公司 | A kind of navigation path planning method and equipment |
| CN107967500A (en) * | 2017-10-18 | 2018-04-27 | 旗瀚科技有限公司 | A kind of scheduling system of more magnetic navigation meal delivery robots |
| CN108180908A (en) * | 2017-11-28 | 2018-06-19 | 青岛海通机器人系统有限公司 | Robot navigation method and robot |
| CN108255181A (en) * | 2018-01-29 | 2018-07-06 | 广州市君望机器人自动化有限公司 | Reverse car seeking method and computer readable storage medium based on robot |
Non-Patent Citations (1)
| Title |
|---|
| 清扫机器人定位及路径规划研究;胡正伟;《万方数据http://d.wanfangdata.com.cn/Thesis/D621059》;20150701;第1-49页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109062218A (en) | 2018-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109062218B (en) | Method and device for controlling robot driving path | |
| US9096267B2 (en) | Efficient data flow algorithms for autonomous lane changing, passing and overtaking behaviors | |
| Ulbrich et al. | Towards a functional system architecture for automated vehicles | |
| US20230041319A1 (en) | Data processing method and apparatus, device, and storage medium | |
| KR102094622B1 (en) | Scene evaluation device, driving support device, scene evaluation method | |
| RU2682092C1 (en) | Driving planning device, motion assistance equipment and driving planning method | |
| KR102092484B1 (en) | Scene evaluation device, driving support device, scene evaluation method | |
| CN107992053B (en) | AGV traffic control method and AGV traffic control system | |
| CN107953884A (en) | Running control apparatus and method for autonomous vehicle | |
| JP2018049445A (en) | Driving support method and driving support device | |
| WO2019073526A1 (en) | Driving control method and driving control apparatus | |
| WO2019073525A1 (en) | Driving control method and driving control apparatus | |
| CN109084798A (en) | Network issues the paths planning method at the control point with road attribute | |
| Plessen et al. | Multi-automated vehicle coordination using decoupled prioritized path planning for multi-lane one-and bi-directional traffic flow control | |
| US11358612B2 (en) | Method for controlling an automated or autonomous locomotive device, and evaluation unit | |
| CN112937608A (en) | Track prediction-based integrated rolling decision method and device for unmanned vehicle in ice and snow environment and storage medium | |
| CN112454367A (en) | Trajectory planning method and device and computer storage medium | |
| Aksjonov et al. | A safety-critical decision-making and control framework combining machine-learning-based and rule-based algorithms | |
| WO2017175327A1 (en) | Moving body management system and method | |
| CN109164805B (en) | Robot driving path scheduling method and device | |
| CN114964286A (en) | Trajectory planning information generation method and device, electronic equipment and storage medium | |
| CN114526752A (en) | Path planning method and device, electronic equipment and storage medium | |
| CN115547023A (en) | Vehicle control method, device and system | |
| JP2021196874A (en) | Driving support method and driving support device | |
| Worrawichaipat et al. | Resilient intersection management with multi-vehicle collision avoidance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210129 Address after: 510000 room 1005, 228 Qiaotou street, Beishan village, Xinjiao South Road, Haizhu District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Anshang Intelligent Technology Co.,Ltd. Address before: 510000 Guangzhou high tech Industrial Development Zone, Guangdong Province, 31 Kefeng Road, No. a220, building G1, Zhongchuang space, South China new materials innovation park, 49 Applicant before: GUANGZHOU DREAMONE ROBOT AUTOMATION Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |