CN102183959B - Self-adaptive path control method of mobile robot - Google Patents
Self-adaptive path control method of mobile robot Download PDFInfo
- Publication number
- CN102183959B CN102183959B CN 201110101450 CN201110101450A CN102183959B CN 102183959 B CN102183959 B CN 102183959B CN 201110101450 CN201110101450 CN 201110101450 CN 201110101450 A CN201110101450 A CN 201110101450A CN 102183959 B CN102183959 B CN 102183959B
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- road sign
- signal
- key point
- virtual coordinates
- 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
Images
Abstract
The invention relates to a self-adaptive path control method of a mobile robot. The self-adaptive path control method is characterized by comprising the following steps: at least two road sign locators numbered in sequence are arranged in a working region of the mobile robot; the mobile robot sequentially searches long-distance signals emitted by each road sign locator according to the numbering sequence, and after the signals are searched, the mobile robot moves towards the signals; the mobile robot moves with time and distance as reference, sets a reference point and solves virtual coordinates of the reference point and stores the virtual coordinates as a key point; when receiving the short-distance signals of the road sign locators, the mobile robot solves virtual coordinates of the current position of the mobile robot and stores the virtual coordinates; after sequentially finishing the search of all the road signal locators, the mobile robot corrects the virtual coordinates of the key point; and the mobile robot cruises according to the corrected virtual coordinates of the key point. The robot system using the method disclosed by the invention has the advantages of strong self-adaptive cruise environment capability, convenience for operation, safety and reliable; in addition, the self-adaptive path control method disclosed by the invention is lower in implementation cost.
Description
Technical field
The present invention relates to the mobile robot, particularly mobile robot's path control.
Background technology
Along with scientific technological advance, Robotics is more and more ripe, its utilization field also more and more widely, as domestic hygiene cleaning, security protection patrol etc.
The road prestige (Rovio) of WowWee company research and development is movement with the WiFi control function shooting robots that cruise, and by its built-in camera, allows the user watch its place environment and to carry out interaction by live video stream and audio stream.But it is when cruising owing to have the target of appointment and the recognition capability of robot own unlimited, cause the adaptive faculty of environment relatively poor, the path of therefore not cruising relatively reliably.
And traditional safety defense monitoring system, great majority are to adopt The Cloud Terrace position rotating mode to take pictures, that takes pictures is regional limited, if remedy by quantity, increase communication, the workload of storing, deploying troops on garrison duty and cost, supervisory system can not move simultaneously, must increase watch-dog if want to monitor a plurality of zones, thereby increase cost.
Summary of the invention
Technical matters to be solved by this invention is the technological deficiency that overcomes in the background technology, and a kind of Adaptive Path control method with the mobile robot in the path of reliably cruising is provided.
In order to reach above purpose, the technical solution adopted in the present invention is as follows:
A kind of mobile robot's Adaptive Path control method comprises following step:
1) in mobile robot's perform region, places at least two road sign steady arms that are numbered in order;
2) mobile robot searches the distant signal that each road sign steady arm sends successively by number order, and after the distant signal that searches current road sign steady arm to its motion;
3) mobile robot serves as with reference to reference point being set, trying to achieve its virtual coordinates and it is stored into memory module as key point with time or its move distance;
4) mobile robot as key point, tries to achieve its current position its virtual coordinates and it is stored into memory module when receiving the closely signal of road sign steady arm;
5) mobile robot's virtual coordinates to key point after the search of finishing all road sign steady arms is revised;
6) mobile robot cruises by the virtual coordinates of revised key point.
In the prioritization scheme of the inventive method, described road sign steady arm comprises cradle, and the signal of described cradle is better than the signal of other road sign steady arms;
In the prioritization scheme of the inventive method, in step 3), if the mobile robot loses current road sign fixture signal, then return a key point, reselect a direction motion again.
In the further prioritization scheme of the inventive method, in step 4), the mobile robot sends an arriving signal after the short-range signal that receives the road sign steady arm, the road sign steady arm stops to send distant signal and signal closely in a period of time after receiving arriving signal.
In the further prioritization scheme of the inventive method, in step 3), the mobile robot when detecting obstacle with its current position as key point, try to achieve its virtual coordinates and it be stored into memory module;
In the further prioritization scheme of the inventive method, in step 3), the mobile robot keeps receiving the signal of road sign steady arm in the process of avoidant disorder, if lossing signal then move rearwards to key point when detecting obstacle is reselected a direction motion again;
In the further prioritization scheme of the inventive method, in step 3), the mobile robot moves on after 60 ° of the deflections when detecting obstacle to the left or to the right,, simultaneously this position is stored into memory module as key point to the right again or 60 ° of deflections left when no longer detecting obstacle.
In the further prioritization scheme of the inventive method, the correction in the described step 5) comprises virtual coordinates modification, increase key point and the deletion key point of key point.
In the further prioritization scheme of the inventive method, the distant signal of described road sign steady arm and closely signal be 360 ° of comprehensive signals.
In the further prioritization scheme of the inventive method, the signal of described road sign steady arm is infrared signal or ultrasonic signal.
The contrast prior art, the beneficial effect of the mobile robot's that the present invention discloses Adaptive Path control method is as follows:
The inventive method overcome traditional safety defense monitoring system can not move cruise and existing mobile robot is poor to the environment identification capacity, the walking no safe and reliable target defective, use that the mobile robot of this method has that the adaptive cruise environment capacity is strong, handled easily, safe and reliable advantage, in addition, this method implementation cost is lower.
Description of drawings
Fig. 1 is the structured flowchart of the mobile robot in the preferred embodiment of the present invention;
Fig. 2 is the synoptic diagram of the mobile robot in the preferred embodiment of the present invention;
Fig. 3 is the road sign steady arm pilotage planning chart of mobile robot under the domestic environment situation in the preferred embodiment of the present invention;
Fig. 4 is the control principle figure of the road sign steady arm in the preferred embodiment of the present invention;
Fig. 5 is the control of remote controller schematic diagram in the preferred embodiment of the present invention;
Fig. 6 be in the preferred embodiment of the present invention the mobile robot control principle figure;
Fig. 7 is the process flow diagram of preferred embodiment of the present invention;
Fig. 8 is that mobile robot in the preferred embodiment of the present invention is at the process flow diagram of searching the road sign steady arm;
Fig. 9 is the synoptic diagram of the key point of mobile robot under accessible situation in the preferred embodiment of the present invention;
Figure 10 is that mobile robot in the preferred embodiment of the present invention is at the synoptic diagram that the key point under the obstacle situation is arranged;
Figure 11 is the synoptic diagram that the mobile robot in the preferred embodiment of the present invention gives up key point.
Embodiment
Below in conjunction with embodiment and contrast accompanying drawing mobile robot's of the present invention Adaptive Path control method is further elaborated.
Please refer to Fig. 1 to Figure 11, be a preferred embodiment of the present invention.
Present embodiment is that example describes with the family expenses supervisory-controlled robot, use the system of method of the present invention to comprise mobile robot (Fig. 2), cradle S, road sign steady arm A-H and telepilot, as shown in Figure 1, described mobile robot comprises motion module, monitoring module, the signal transmitting and receiving module, the obstacle detection module, acquisition module, memory module and control module, described cradle S uses as the road sign steady arm when the mobile robot does not charge, the signal intensity of its transmission is greater than the signal intensity of road sign steady arm A-H, cradle S, road sign steady arm A-H presses certain frequency and continues to send 360 ° of comprehensive distant signals and 360 ° of comprehensive closely signals, the preferred infrared signal of signal or the ultrasonic signal that send adopt infrared signal in the present embodiment.
As shown in Figure 4, the chip of the road sign steady arm in the present embodiment adopts TK98P01, comprise distant signal transmitter, closely signal projector, power supply (being generally dry cell or accumulator) and first receiver, second receiver, first receiver is used for receiving remote controller signal, and second receiver is used for receiving mobile robot's signal.
As shown in Figure 5, the chip of the telepilot in the present embodiment adopts TK98P01, comprises signal projector, signal projector, power supply (being generally dry cell or accumulator), display screen and keyboard.
As shown in Figure 6, the main control chip of the mobile robot in the present embodiment adopts STM32F101.Driver module comprises left and right driving wheel and universal wheel; The obstacle detection module comprises that five (in preceding, left and right, the left sides, in the right side) detect inductor and five to wall and detect inductor (in preceding, left and right, the left side, in the right side) over the ground; Power module adopts dry cell or the accumulator that can repeatedly recharge; The signal transmitting and receiving module comprise signal projector and signal receiver, wherein, the signal that signal receiver can send at 360 ° of comprehensive reception road sign steady arms; Monitoring module comprises that video capture device (camera) and audio frequency obtain equipment (MIC); Acquisition module is used for left and right sidesing driving wheel is tested the speed to obtain the moveable robot movement distance, universal wheel is tested the speed to obtain the moveable robot movement state and uses gyroscope to obtain mobile robot's direction of motion information.
As shown in Figure 6, be the process flow diagram of present embodiment.Below in conjunction with Fig. 3 and Fig. 7 this implementing procedure is elaborated.
Step 1) is placed at the place, gate of domestic environment and is recharged a S, with road sign steady arm A-H respectively in the kitchen, study, balcony, bedroom, doorway, toilet place, and places the road sign steady arm at key position (as windowsill place or valuables lay down location) then.
Step 2) respectively each road sign steady arm is arranged corresponding label by telepilot, tell the number of mobile robot's road sign steady arm and the sequencing of search road sign steady arm simultaneously, open command then, the mobile robot moves to it when keeping receiving this signal after the distant signal that searches current road sign steady arm, goes into to receive up to mobile apparatus till the closely signal of current road sign steady arm; Wherein, the mobile robot is before receiving the closely signal of road sign steady arm, if receive the signal of other road sign steady arms, the mobile robot ignores the signal that receives, and can not produce action to the received signal.
First receiver (T101) of road sign steady arm is according to receiving unlike signal that telepilot sends determining its numbering, as receives order 0XAA0X01, represents that this road sign steady arm is first the road sign steady arm that will search of mobile robot, and it is numbered A; By that analogy, when the road sign steady arm receives 0XAA0X02 ..., 0XAA0X09; Its numbering is respectively B, C, D, E, F, G, H, S; Under the default situations, S is charging station, is generally last numbering.Mobile robot's receiver shows that the number of road sign steady arm is 9 behind the order 0Xbb0X09 that the reception telepilot sends, hear that an expression of hummer flute arranges success.360 ° of comprehensive distant signal transmitters of road sign steady arm send order 0X01 (corresponding with road sign steady arm numbering), and the guiding mobile robot is to this road sign steady arm motion.
Step 3) mobile robot arranges reference point after (as 5 seconds) or walking preset distance (as 20cm) at the fixed time, try to achieve its virtual coordinates and it is stored into memory module as key point, as shown in Figure 9, A1-A4 totally 4 key points are arranged between cradle S and the road sign steady arm A.
Please refer to Fig. 9, the mobile robot is after reception road sign steady arm A sends the signal of 0X01, beginning is moved to road sign steady arm A, acquisition module is to left and right sidesing driving wheel test the speed (namely catching the photoelectric coding high level), per 200 microsecond collections are once made accumulative total L1 and L2 (not doing accumulative total if run into fault) in the walking process of left and right sidesing driving wheel; Simultaneously, acquisition module tests the speed (namely catching the photoelectric coding high level) to angle sheave, and per 200 microsecond collections are once made accumulative total L3 (not doing accumulative total if run into fault) in walking; Gyroscope direction deflection inductor (angular velocity), per 2 milliseconds of collections once as the walk important parameter of straight line and pre-deflection angle of mobile robot, are made accumulative total ∮ 1 in walking; Mobile robot's walking mainly with straight ahead, straight line retreat, two-wheeled moves deflection left simultaneously and two-wheeled moves simultaneously four kinds of motion states of deflection to the right; In straight line moving, mobile robot's MCU calculates the speed that L1 ', a L2 ' (L1 ', L2 ' be the move distance of mobile robot in 2 milliseconds) adjust the left and right wheels of walking for per 2 milliseconds, to guarantee that the walking path track is straight line, simultaneously gyroscope is done and is once gathered ∮ 1 ' (∮ 1 ' is the angle of mobile robot at 10 milliseconds of bias internals) for per 10 milliseconds, do the secondary correction of angular velocity, adjust ∮ 1, remedy the fluctuation in the walking, left and right sides road wheel motor runtime parameter is carried out the finishing of normal distribution; In the deflection walking, mobile robot's MCU calculates a L1 for per 2 milliseconds ", L2 ", ∮ 1 " (L1 ", L2 " be the move distance of mobile robot in 2 milliseconds; ∮ 1 " mobile robot is in the angle of 10 milliseconds of bias internals), expect with the angle of assurance deflection; When the mobile robot travelled to the road sign steady arm by the normal straight walking, the calculating of the virtual coordinates of key point was calculated once (not having fault to take place) in per 5 seconds, and (Xa Ya) calculates by following company: Xa=(L1+L2)/2 virtual coordinates of road sign steady arm A; Ya=∮ 1, the virtual coordinates of first sequence number (virtual, length is Xa, and direction is Ya, uses when cruising in order to study) is ((L1+L2)/2, ∮ 1) in the walking so, the coordinate here adopts polar coordinates.
Step 4) mobile robot as key point, tries to achieve its current position its virtual coordinates and it is stored into memory module when receiving the closely signal of road sign steady arm, and is similar in its Coordinate Calculation and the step 3), here just not in explanation.
When this road sign steady arm, closely sender unit sends order 0X11 and notifies it to arrive the destination to the mobile robot, does not readvance the mobile robot; Mobile robot's sender unit sends order 0X21 to second receiver (T102) of road sign steady arm, represent oneself to arrive, 360 ° of comprehensive distant signal transmitters of this road sign steady arm temporary close reach closely sender unit, open again in a period of time (after as 1 minute), in order to avoid the distant signal that next road sign steady arm sends is interfered.
The mobile robot finishes the path planning between road markings steady arm B and C, C and D, D and E, E and F, F and G, G and H and road sign steady arm H and the cradle S more in order successively behind the path planning of finishing cradle S and road sign steady arm B.
After setting and protocol definition are finished, enter next step.
Step 5) mobile robot's virtual coordinates to key point after the search of finishing all road sign steady arms is revised;
The mobile robot revises the key point coordinate in its path of cruising after finishing the path planning of whole perform region: the mobile robot moves to road sign steady arm A after receiving 360 ° of comprehensive distant signals of road sign steady arm A; Read the virtual coordinates of all key points of highway section SA, the mobile robot is successively by the motion of the orientation shown in the virtual coordinates of key point then, simultaneously distance and direction of motion are stored into memory module, when arriving last key point (key point the when mobile robot receives short-range signal) in this highway section, judge whether its virtual coordinates is the interior virtual coordinates of memory module; If the calculating that the virtual coordinates of key point is described is good; If not, illustrating in the parameter of keeping away in the barrier for the first time has deviation, then the current position point of mobile robot is stored in the memory module as newly-increased key point and with its virtual coordinates, so finish the correction of highway section SA; Continue to finish the correction of virtual coordinates of the key point in other highway sections then by this step.
Step 6) mobile robot cruises by the virtual coordinates of revised key point.
Finish the correction of virtual coordinates of key point in all 9 highway sections the mobile robot after, 360 ° of comprehensive distant signals that the mobile robot no longer receives the road sign steady arm reach closely signal, can withdraw the road sign steady arm this moment, the mobile robot reads virtual coordinates and the motion of the key point in each highway section successively then, to finish the path of cruising of self study.
Special circumstances in mobile robot's operational process are handled:
One, obstacle avoidance is handled:
Above-mentioned steps 3) mobile robot there is not description under the obstacle situation between any two road sign steady arms, and various faults can be run into by robot in actual conditions, please refer to Figure 10 to Figure 11, obstacle is arranged (distance of detection is generally 5CM～30CM if mobile robot's obstacle detection module is sensed the place ahead, the obstacle of surveying comprises barrier and road surface hollow), the mobile robot is out of service, with this point as key point, calculate its virtual coordinates and with its storage, the original place rotates 60 ° of continuation motions more to the left or to the right then, in the obstacle process, if the mobile robot has lost the signal of current road sign steady arm, then straight line shrinks back, and up to getting back to a last key point, selects a direction to keep away barrier again; Experiment showed, that by this being kept away barrier the preferred 60 ° angle of mobile robot keeps away barrier, it is reliable for effect and algorithm is fairly simple that it keeps away barrier.The mobile robot can keep away barrier by following two modes:
A. please refer to Figure 10, the mobile robot detects obstacle at A2 point place, and the A2 point as key point, is obtained its virtual coordinates (X
A2, Y
A2) and store, turn left then 60 ° to travel forward, after A3 point place no longer detected obstacle, as key point, turned right 60 ° and obtain its virtual coordinates (X with the A3 point then this moment
A3, Y
A3) and store, an A2 that moves on between the some A3 apart from point of arrival A4 after the length, will put A4 as key point, turn right 60 ° and obtain its virtual coordinates (X
A4, Y
A4) and store, an A2 that moves on between the some A3 apart from length point of arrival A5, will put A5 as key point, turn right 60 ° and obtain its virtual coordinates (X
A5, Y
A5) and store, the 60 ° of continuation of turning left are again moved forward, thereby finish the avoidance to obstacle.
B. please refer to Figure 11, the mobile robot detects obstacle at A2 point place, and the A2 point as key point, is obtained its virtual coordinates X
A2, Y
A2) and store, turning left then 60 ° travels forward advances and still can detect obstacle behind the preset distance point of arrival A3 ', the mobile robot abandons an A ' 3 as key point, then the mobile robot retreats into key point A2 with straight line, turn right 120 ° then, the preset distance point of arrival A3 that readvances no longer detects obstacle this moment, the mobile robot as key point, obtains its virtual coordinates (X with the A3 point
A3, Y
A3) and store, the predetermined length point of arrival A4 that turns left then 60 ° to move on, and then with the A4 point as key point, obtain its virtual coordinates (X
A4, Y
A4) and store, follow 60 ° of preset distance point of arrival A5 that move on, will put A5 as key point, turn left 60 ° and obtain its virtual coordinates (X
A5, Y
A5) and store, the 60 ° of continuation of turning right are again moved forward, thereby finish the avoidance to obstacle.
Adopting the B mode to keep away in the barrier, the proal preset distance of mobile robot can be set by artificial, and the user can suitably set according to the size of indoor obstacle, can improve its efficient of cruising.
Two, the mobile robot is skidded or is blocked fault handling:
Can receive the signal that revolver tests the speed or right wheel tests the speed at acquisition module, and universal wheel tests the speed when not having signal, the mobile robot thinks that then left and right wheels is skidded or it is stuck, the mobile robot stops to travel forward, straight line retreats preset distance backward then, receives the universal wheel tachometer signal simultaneously up to acquisition module, this moment the mobile robot with this point as key point, obtain its virtual coordinates and storage, and then select a direction to travel forward.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention does, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention; make some alternative or obvious modification that are equal to without departing from the inventive concept of the premise; and performance or purposes are identical, all should be considered as belonging to the scope of patent protection that the present invention is determined by claims of submitting to.
Claims (10)
1. a mobile robot Adaptive Path control method is characterized in that comprising following step:
1) in mobile robot's perform region, places at least two road sign steady arms that are numbered in order;
2) mobile robot searches the distant signal that each road sign steady arm sends successively by number order, and after the distant signal that searches current road sign steady arm to its motion;
3) mobile robot serves as with reference to reference point being set, trying to achieve its virtual coordinates and it is stored into memory module as key point with time or its move distance;
4) mobile robot as key point, tries to achieve its current position its virtual coordinates and it is stored into memory module when receiving the closely signal of road sign steady arm;
5) mobile robot's virtual coordinates to key point after the search of finishing all road sign steady arms is revised, and comprising: according to number order, the mobile robot receives after the distant signal of road sign steady arm to this road sign steady arm motion; Read all crucial virtual coordinates of this road sign steady arm corresponding road section, and successively by the motion of the orientation shown in the virtual coordinates of key point, simultaneously distance and direction of motion are stored into storage block, when last key point that arrives this highway section, during the key point that is mobile apparatus when receiving short-range signal, judge whether its virtual coordinates is corresponding virtual coordinate in the memory module; If not, then the current position point of mobile robot is stored in the memory module as newly-increased key point and with its virtual coordinates, so finish the correction in this highway section; Continue to finish the correction of the virtual coordinates in other highway sections then by this step;
6) mobile robot cruises by the virtual coordinates of revised key point.
2. mobile robot's as claimed in claim 1 Adaptive Path control method, it is characterized in that: described road sign steady arm comprises cradle, and the signal intensity of described cradle is greater than the signal intensity of other road sign steady arms.
3. mobile robot's as claimed in claim 1 Adaptive Path control method is characterized in that: in step 3), if the mobile robot loses current road sign fixture signal, then return a key point, reselect a direction motion again.
4. as any described mobile robot's of claim 1 to 3 Adaptive Path control method, it is characterized in that: in step 4), the mobile robot sends an arriving signal after receiving the closely signal of road sign steady arm, the road sign steady arm stops to send distant signal and signal closely in a period of time after receiving arriving signal.
5. mobile robot's as claimed in claim 4 Adaptive Path control method, it is characterized in that: in step 3), the mobile robot when detecting obstacle with its current position as key point, try to achieve its virtual coordinates and it be stored into memory module.
6. mobile robot's as claimed in claim 5 Adaptive Path control method, it is characterized in that: in step 3), the mobile robot keeps receiving the signal of road sign steady arm in the process of avoidant disorder, if lossing signal then straight line retreats into the key point when detecting obstacle is reselected a direction motion again.
7. mobile robot's as claimed in claim 6 Adaptive Path control method, it is characterized in that: in step 3), the mobile robot moves on after 60 ° of the deflections when detecting obstacle to the left or to the right, when no longer detecting obstacle,, simultaneously this position is stored into memory module as key point to the right again or 60 ° of deflections left.
8. mobile robot's as claimed in claim 7 Adaptive Path control method is characterized in that: the correction in the described step 5) comprises that the virtual coordinates of key point revises, increases key point and deletion key point.
9. mobile robot's as claimed in claim 8 Adaptive Path control method is characterized in that: the distant signal of described road sign steady arm and closely signal be 360 ° of comprehensive signals.
10. mobile robot's as claimed in claim 9 Adaptive Path control method, it is characterized in that: the signal of described road sign steady arm is infrared signal or ultrasonic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110101450 CN102183959B (en) | 2011-04-21 | 2011-04-21 | Self-adaptive path control method of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110101450 CN102183959B (en) | 2011-04-21 | 2011-04-21 | Self-adaptive path control method of mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102183959A CN102183959A (en) | 2011-09-14 |
| CN102183959B true CN102183959B (en) | 2013-08-07 |
Family
ID=44570147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110101450 Active CN102183959B (en) | 2011-04-21 | 2011-04-21 | Self-adaptive path control method of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102183959B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
Families Citing this family (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294054B (en) * | 2012-02-24 | 2016-03-30 | 联想(北京)有限公司 | A kind of robot navigation method and system |
| CN103629751B (en) * | 2012-08-22 | 2016-04-20 | 珠海格力电器股份有限公司 | Air cleaning unit and air purification method |
| CN103676945B (en) * | 2012-08-31 | 2017-10-27 | 科沃斯机器人股份有限公司 | The method that intelligent control machine people is moved in range of signal |
| CN102866706B (en) * | 2012-09-13 | 2015-03-25 | 深圳市银星智能科技股份有限公司 | Cleaning robot adopting smart phone navigation and navigation cleaning method thereof |
| CN103248673A (en) * | 2013-04-12 | 2013-08-14 | 大连民族学院 | Semi-autonomous rescue vehicle system based on WIFI (wireless fidelity) and capable of being controlled remotely and control method |
| CN103345247B (en) * | 2013-06-20 | 2015-06-10 | 无锡普智联科高新技术有限公司 | Mobile robot positioning method used for correcting code adherence errors |
| CN103431812B (en) * | 2013-08-02 | 2016-04-06 | 南京航空航天大学金城学院 | A kind of clean robot based on ultrasonic radar detection and ambulation control method thereof |
| DE102014009903A1 (en) * | 2014-07-05 | 2016-01-07 | Ridha Azaiz | Method for controlling a missile for cleaning surfaces |
| CN107003669B (en) * | 2014-12-16 | 2023-01-31 | 伊莱克斯公司 | Experience-based road sign for robotic cleaning devices |
| JP6532530B2 (en) | 2014-12-16 | 2019-06-19 | アクチエボラゲット エレクトロルックス | How to clean a robot vacuum cleaner |
| CN105988471B (en) * | 2015-02-15 | 2020-09-22 | 苏州宝时得电动工具有限公司 | Intelligent mowing system and mowing control method of mower |
| CN106292652B (en) * | 2015-05-14 | 2020-02-28 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic working equipment and method for identifying starting position |
| CN105589460B (en) * | 2015-05-19 | 2019-07-12 | 中国人民解放军国防科学技术大学 | A kind of method and device of control movement car body |
| CN106468920B (en) * | 2015-08-19 | 2020-08-14 | 苏州宝时得电动工具有限公司 | Regression charging method and automatic walking equipment thereof |
| CN105739500B (en) * | 2016-03-29 | 2020-06-30 | 海尔优家智能科技（北京）有限公司 | Interactive control method and device of intelligent sweeping robot |
| CN105739505B (en) * | 2016-04-13 | 2018-09-04 | 上海物景智能科技有限公司 | A kind of controlling of path thereof and system of robot |
| CN106091924B (en) * | 2016-05-30 | 2018-08-07 | 深圳普智联科机器人技术有限公司 | A kind of system and method for pasting code error using laser-adjusting |
| CN105911999A (en) * | 2016-06-21 | 2016-08-31 | 上海酷哇机器人有限公司 | Mobile luggage case with automatic following and obstacle avoiding functions and using method thereof |
| CN106527424B (en) * | 2016-09-20 | 2023-06-09 | 深圳银星智能集团股份有限公司 | Mobile robot and navigation method for mobile robot |
| CN106843229B (en) * | 2017-03-24 | 2020-11-10 | 上海思岚科技有限公司 | Virtual track design system for mobile equipment and implementation method thereof |
| WO2018219473A1 (en) | 2017-06-02 | 2018-12-06 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
| CN107390701B (en) * | 2017-09-07 | 2018-10-02 | 南京昱晟机器人科技有限公司 | A kind of small space mobile robot orientation management method |
| CN107684401A (en) * | 2017-09-25 | 2018-02-13 | 北京石头世纪科技有限公司 | The control method and control device of intelligent cleaning equipment |
| WO2019063066A1 (en) | 2017-09-26 | 2019-04-04 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
| JP2019171001A (en) * | 2017-09-29 | 2019-10-10 | パナソニックＩｐマネジメント株式会社 | Autonomous mobile cleaner, cleaning method and program |
| CN107479561B (en) * | 2017-10-09 | 2020-09-25 | 联想(北京)有限公司 | Method for controlling robot |
| CN108121340B (en) * | 2017-10-31 | 2021-09-03 | 深圳市博鑫创科科技有限公司 | Two-dimensional code-based balance car automatic parking method and system |
| CN108153301B (en) * | 2017-12-07 | 2021-02-09 | 深圳市杰思谷科技有限公司 | Intelligent obstacle avoidance system based on polar coordinates |
| CN108073186B (en) * | 2017-12-18 | 2021-02-23 | 北京富地勘察测绘有限公司 | Breakpoint endurance control method and system of gyroplane |
| CN109976324B (en) * | 2017-12-27 | 2022-06-28 | 深圳市优必选科技有限公司 | Method for controlling robot charging, robot, and computer-readable storage medium |
| CN108748156A (en) * | 2018-06-12 | 2018-11-06 | 芜湖乐创电子科技有限公司 | A kind of robot control system of turning off the light based on patrol monitoring |
| CN109375617B (en) * | 2018-09-26 | 2022-02-11 | 北京洪泰同创信息技术有限公司 | Intelligent furniture, emitter, furniture positioning and identifying system and method |
| CN109229097B (en) * | 2018-10-25 | 2020-11-03 | 北京猎户星空科技有限公司 | Cruise control method and device |
| CN109407675B (en) * | 2018-12-19 | 2021-11-09 | 珠海市一微半导体有限公司 | Obstacle avoidance method and chip for robot returning seat and autonomous mobile robot |
| CN110361009B (en) * | 2019-07-12 | 2020-09-22 | 深圳市银星智能科技股份有限公司 | Path planning method, path planning system and mobile robot |
| CN110488831A (en) * | 2019-08-26 | 2019-11-22 | 深圳市杉川机器人有限公司 | The cradle and method and system of robot evacuation are realized based on infrared light |
| WO2022037496A1 (en) * | 2020-08-17 | 2022-02-24 | 深圳市杉川机器人有限公司 | Novel boundary line, boundary line system, and automatic working system |
| CN114061567A (en) * | 2021-11-10 | 2022-02-18 | 郭艳芳 | Intelligent positioning measurement method and system, storage medium and intelligent terminal |
| CN117724467A (en) * | 2022-09-08 | 2024-03-19 | 华为云计算技术有限公司 | Path planning method, related device and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6597143B2 (en) * | 2000-11-22 | 2003-07-22 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot system using RF module |
| EP1437636A1 (en) * | 2003-01-11 | 2004-07-14 | Samsung Electronics Co., Ltd. | Mobile robot, and system and method for autonomous navigation of the same |
| CN101551250A (en) * | 2008-04-02 | 2009-10-07 | 南开大学 | Mobile robot landmark dynamic configuration method and device searching facing to unknown environments |
| CN101669144A (en) * | 2007-03-13 | 2010-03-10 | 浦项产业科学研究院 | Landmark for position determination of mobile robot and apparatus and method using it |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3900870B2 (en) * | 2001-08-07 | 2007-04-04 | オムロン株式会社 | Information collection device, information collection method, and information collection system |
| US6975229B2 (en) * | 2002-08-09 | 2005-12-13 | Battelle Memorial Institute K1-53 | System and method for acquisition management of subject position information |
| KR20060034327A (en) * | 2004-10-18 | 2006-04-24 | 삼성광주전자 주식회사 | Docking guide apparatus for robot cleaner system and docking method thereof |
| KR100621415B1 (en) * | 2005-03-08 | 2006-09-19 | 주식회사 한울로보틱스 | System and method for detecting the self-position of a mobile robot |
| KR100826828B1 (en) * | 2006-11-29 | 2008-05-06 | 한국산업기술대학교산학협력단 | System for verifying position of the robot using rfid and method therefor |
| KR100919944B1 (en) * | 2007-03-19 | 2009-10-01 | 주식회사 유진로봇 | Map Creation system and Map Creation Method of Mobile Robot |
| KR100782863B1 (en) * | 2007-06-29 | 2007-12-06 | (주)다사로봇 | Docking guide apparatus for moving robot and docking method thereof |
-
2011
- 2011-04-21 CN CN 201110101450 patent/CN102183959B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6597143B2 (en) * | 2000-11-22 | 2003-07-22 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot system using RF module |
| EP1437636A1 (en) * | 2003-01-11 | 2004-07-14 | Samsung Electronics Co., Ltd. | Mobile robot, and system and method for autonomous navigation of the same |
| CN101669144A (en) * | 2007-03-13 | 2010-03-10 | 浦项产业科学研究院 | Landmark for position determination of mobile robot and apparatus and method using it |
| CN101551250A (en) * | 2008-04-02 | 2009-10-07 | 南开大学 | Mobile robot landmark dynamic configuration method and device searching facing to unknown environments |
Non-Patent Citations (2)
| Title |
|---|
| RFID技术在移动机器人同步定位中的应用;刘晶;《中南民族大学学报(自然科学版)》;20080915;第27卷(第03期);84-87 * |
| 刘晶.RFID技术在移动机器人同步定位中的应用.《中南民族大学学报(自然科学版)》.2008,第27卷(第03期),84-87. |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN103645733B (en) * | 2013-12-02 | 2014-08-13 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102183959A (en) | 2011-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102183959B (en) | Self-adaptive path control method of mobile robot | |
| CN102354436B (en) | Warning method of indoor security patrol robot system | |
| CN107193277B (en) | Autonomous mobile fire-fighting robot capable of automatically detecting and extinguishing fire and control method | |
| CN105700522B (en) | A kind of robot charging method and its charging system | |
| CN102096413B (en) | Security patrol robot system and control method thereof | |
| CN108247647B (en) | Cleaning robot | |
| CN105807760B (en) | Intelligent robot and method and device for self-establishing path thereof | |
| CN105119338B (en) | Mobile robot charge control system and method | |
| CN107528370B (en) | Automatic charging system and control method of intelligent security robot | |
| CN103147789B (en) | System and method for controlling underground coal mine rescue robot | |
| CN107065870A (en) | Mobile robot autonomous navigation system and method | |
| CN206684574U (en) | A kind of mobile robot recharges control system | |
| EP2287694B1 (en) | Distributed visual guidance for a mobile robotic device | |
| US20110046780A1 (en) | Distributed robotic guidance | |
| WO2021082659A1 (en) | Universal recharge control method for robot, chip and robot | |
| CN104184781A (en) | Unknown environment exploration-oriented mobile robot self-deploying sensing network | |
| CN109460032A (en) | A kind of localization method and autonomous charging of robots method based on laser-correlation | |
| CN205081492U (en) | Mobile robot control system that charges | |
| CN108151760B (en) | Robot positioning recovery method based on odometer | |
| CN111823212A (en) | Garbage bottle cleaning and picking robot and control method | |
| CN108801269A (en) | A kind of interior cloud Algorithms of Robots Navigation System and method | |
| CN204423154U (en) | A kind of automatic charging toy robot based on independent navigation | |
| CN102379277A (en) | Intelligent bird expelling robot | |
| CN112033391B (en) | Robot repositioning method and device based on charging pile | |
| CN107643751A (en) | The slope recognition methods of intelligent walking equipment and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 518110 Guangdong city of Shenzhen province Baoan District Guanlan street community rich industrial garden Huiqing Ao Bei Science Park building D plant Applicant after: Shenzhen Silver Star Intelligent Technology Co.,Ltd. Address before: 518110 Guangdong city of Shenzhen province Baoan District Guanlan sightseeing road Dafu Industrial Zone Huiqing Technology Park building D Applicant before: Shenzhen Silver Star Intelligent Electronic Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: YINXING INTELLIGENT ELECTRICAL APPLIANCES CO., LTD., SHENZHEN CITY TO: SHENZHEN SILVER STAR INTELLIGENT TECHNOLOGY CO., LTD. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Wanshui Inventor after: Zhang Guodong Inventor before: Wu Wanshui |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: WU WANSHUI TO: WU WANSHUI ZHANG GUODONG |
|
| CP03 | Change of name, title or address |
Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building D of Huiqing Science and Technology Park, Dafu Industrial Park, Wabei Community, Guanlan Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
|
| CP03 | Change of name, title or address |