CN104142971A - 用于构建用于移动机器人的地图的方法和设备 - Google Patents
用于构建用于移动机器人的地图的方法和设备 Download PDFInfo
- Publication number
- CN104142971A CN104142971A CN201310700706.4A CN201310700706A CN104142971A CN 104142971 A CN104142971 A CN 104142971A CN 201310700706 A CN201310700706 A CN 201310700706A CN 104142971 A CN104142971 A CN 104142971A
- Authority
- CN
- China
- Prior art keywords
- characteristic data
- node
- information
- neighborhood
- coxopodite
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000008859 change Effects 0.000 claims description 69
- 238000005192 partition Methods 0.000 claims description 29
- 230000004044 response Effects 0.000 claims description 28
- 238000013459 approach Methods 0.000 abstract description 10
- 230000011218 segmentation Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000015654 memory Effects 0.000 description 3
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/2163—Partitioning the feature space
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
- G06V10/765—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects using rules for classification or partitioning the feature space
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Data Mining & Analysis (AREA)
- Medical Informatics (AREA)
- Acoustics & Sound (AREA)
- Computing Systems (AREA)
- Optics & Photonics (AREA)
- Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Health & Medical Sciences (AREA)
- Evolutionary Biology (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Bioinformatics & Computational Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (18)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2013-0051497 | 2013-05-07 | ||
KR1020130051497A KR101883473B1 (ko) | 2013-05-07 | 2013-05-07 | 이동로봇의 지도 작성 장치 및 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104142971A true CN104142971A (zh) | 2014-11-12 |
CN104142971B CN104142971B (zh) | 2018-12-21 |
Family
ID=51852145
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310700706.4A Expired - Fee Related CN104142971B (zh) | 2013-05-07 | 2013-12-18 | 用于构建用于移动机器人的地图的方法和设备 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9207678B2 (zh) |
KR (1) | KR101883473B1 (zh) |
CN (1) | CN104142971B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105427738A (zh) * | 2015-11-10 | 2016-03-23 | 汕头大学 | 一种基于大气压的多层建筑物的地图构建方法 |
WO2021159901A1 (zh) * | 2020-02-12 | 2021-08-19 | 华为技术有限公司 | 一种路径规划方法及相关设备 |
CN113420072A (zh) * | 2021-06-24 | 2021-09-21 | 深圳前海微众银行股份有限公司 | 数据处理方法、装置、设备及存储介质 |
US11656082B1 (en) * | 2017-10-17 | 2023-05-23 | AI Incorporated | Method for constructing a map while performing work |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9387588B1 (en) | 2014-08-25 | 2016-07-12 | Google Inc. | Handling gait disturbances with asynchronous timing |
US10081098B1 (en) | 2014-08-25 | 2018-09-25 | Boston Dynamics, Inc. | Generalized coordinate surrogates for integrated estimation and control |
US9618937B1 (en) | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
US9446518B1 (en) * | 2014-11-11 | 2016-09-20 | Google Inc. | Leg collision avoidance in a robotic device |
US9499218B1 (en) | 2014-12-30 | 2016-11-22 | Google Inc. | Mechanically-timed footsteps for a robotic device |
CN105824310B (zh) * | 2015-01-08 | 2018-10-19 | 江苏美的清洁电器股份有限公司 | 机器人的行走控制方法和机器人 |
US9594377B1 (en) * | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
US9586316B1 (en) | 2015-09-15 | 2017-03-07 | Google Inc. | Determination of robotic step path |
US9789919B1 (en) | 2016-03-22 | 2017-10-17 | Google Inc. | Mitigating sensor noise in legged robots |
US11697211B2 (en) | 2017-06-30 | 2023-07-11 | Lg Electronics Inc. | Mobile robot operation method and mobile robot |
TWI660275B (zh) * | 2018-06-27 | 2019-05-21 | 廣達電腦股份有限公司 | 用於清潔裝置之任務區域分配方法、清潔裝置任務分配系統以及清潔裝置 |
TWI687191B (zh) * | 2018-10-23 | 2020-03-11 | 廣達電腦股份有限公司 | 用於多個清潔裝置之任務區域分配方法以及其系統 |
CN109917791B (zh) * | 2019-03-26 | 2022-12-06 | 深圳市锐曼智能装备有限公司 | 移动装置自动探索构建地图的方法 |
CN112370788A (zh) * | 2020-11-11 | 2021-02-19 | 网易(杭州)网络有限公司 | 游戏中虚拟对象的导航方法及电子设备 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012106075A1 (en) * | 2011-02-05 | 2012-08-09 | Wifislam, Inc. | Method and apparatus for mobile location determination |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5835684A (en) * | 1994-11-09 | 1998-11-10 | Amada Company, Ltd. | Method for planning/controlling robot motion |
US6728775B1 (en) * | 1997-03-17 | 2004-04-27 | Microsoft Corporation | Multiple multicasting of multimedia streams |
US7194134B2 (en) * | 2001-01-02 | 2007-03-20 | Microsoft Corporation | Hierarchical, probabilistic, localized, semantic image classifier |
JP2003266349A (ja) | 2002-03-18 | 2003-09-24 | Sony Corp | 位置認識方法、その装置、そのプログラム、その記録媒体及び位置認識装置搭載型ロボット装置 |
KR100791386B1 (ko) | 2006-08-18 | 2008-01-07 | 삼성전자주식회사 | 이동 로봇의 영역 분리 방법 및 장치 |
KR20080071228A (ko) * | 2007-01-24 | 2008-08-04 | 팅크웨어(주) | 지도 제공방법 및 지도 서비스 제공 시스템 |
KR100956663B1 (ko) * | 2007-09-20 | 2010-05-10 | 한국과학기술연구원 | 로봇의 경로 설계 방법 및 그 로봇 |
KR100966477B1 (ko) * | 2008-07-04 | 2010-06-29 | 팅크웨어(주) | 3차원 지도 서비스를 위한 영역 사분 트리를 이용한 데이터캐시 방법 및 시스템 |
KR101126079B1 (ko) | 2008-12-01 | 2012-03-29 | 에스케이플래닛 주식회사 | 광역 공간의 지역 지도 사이의 경로 생성 장치 및 방법 |
KR101037379B1 (ko) * | 2008-12-18 | 2011-05-27 | 한국과학기술연구원 | 거리센서로부터 얻은 주변환경의 거리정보를 바탕으로 한 이동로봇탐사시스템 및 이를 이용한 탐사방법 |
KR20100070922A (ko) | 2008-12-18 | 2010-06-28 | 한국전자통신연구원 | 위치 인식을 위한 격자 지도 작성 장치 및 그 방법 |
WO2012172721A1 (ja) * | 2011-06-14 | 2012-12-20 | パナソニック株式会社 | ロボット装置、ロボット制御方法、及びロボット制御プログラム |
-
2013
- 2013-05-07 KR KR1020130051497A patent/KR101883473B1/ko active IP Right Grant
- 2013-09-26 US US14/037,510 patent/US9207678B2/en active Active
- 2013-12-18 CN CN201310700706.4A patent/CN104142971B/zh not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012106075A1 (en) * | 2011-02-05 | 2012-08-09 | Wifislam, Inc. | Method and apparatus for mobile location determination |
Non-Patent Citations (2)
Title |
---|
张岑等: "基于四叉树的邻域查询技术", 《系统仿真学报》 * |
赵慧等: "基于线性四叉树的快速邻域查询算法", 《计算机工程与设计》 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105427738A (zh) * | 2015-11-10 | 2016-03-23 | 汕头大学 | 一种基于大气压的多层建筑物的地图构建方法 |
US11656082B1 (en) * | 2017-10-17 | 2023-05-23 | AI Incorporated | Method for constructing a map while performing work |
WO2021159901A1 (zh) * | 2020-02-12 | 2021-08-19 | 华为技术有限公司 | 一种路径规划方法及相关设备 |
CN113420072A (zh) * | 2021-06-24 | 2021-09-21 | 深圳前海微众银行股份有限公司 | 数据处理方法、装置、设备及存储介质 |
CN113420072B (zh) * | 2021-06-24 | 2024-04-05 | 深圳前海微众银行股份有限公司 | 数据处理方法、装置、设备及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN104142971B (zh) | 2018-12-21 |
KR101883473B1 (ko) | 2018-07-30 |
US20140334713A1 (en) | 2014-11-13 |
US9207678B2 (en) | 2015-12-08 |
KR20140132228A (ko) | 2014-11-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104142971A (zh) | 用于构建用于移动机器人的地图的方法和设备 | |
EP3672762B1 (en) | Self-propelled robot path planning method, self-propelled robot and storage medium | |
CN107436148B (zh) | 一种基于多地图的机器人导航方法及装置 | |
US20210097103A1 (en) | Method and system for automatically collecting and updating information about point of interest in real space | |
JP2009053849A (ja) | 経路探索システム、経路探索方法、及び自律移動体 | |
CN101676930A (zh) | 一种识别扫描图像中表格单元的方法及装置 | |
CN104964693B (zh) | 具有改进的导航工具的地图应用 | |
CN112090078B (zh) | 游戏角色移动控制方法、装置、设备和介质 | |
CN109542276B (zh) | 一种触控点识别方法及装置和显示设备 | |
CN109459048A (zh) | 用于机器人的地图加载方法及设备 | |
CN114343490B (zh) | 机器人清扫方法、机器人及存储介质 | |
KR20210004763A (ko) | 직사각형 맵 분해 기반의 청소 로봇 장치 및 이를 이용한 커버리지 경로 계획 방법 | |
JP2015001874A (ja) | 情報処理装置、情報処理方法およびコンピュータ読み取り可能な記録媒体 | |
KR101880168B1 (ko) | 실시간 지도데이터 업데이트 방법 | |
JP2007139931A (ja) | ナビゲーション装置及び地図表示方法 | |
JP2018132689A (ja) | 地図データ、地図データ作成装置、地図データ作成プログラム、地図データ使用装置、地図データ使用プログラム | |
JP7093680B2 (ja) | 構造物差分抽出装置、構造物差分抽出方法およびプログラム | |
CN114545923A (zh) | 机器人的建图方法、电子设备及计算机存储介质 | |
CN114815791A (zh) | 可行驶空间规划方法及设备 | |
KR102516813B1 (ko) | 지도 상에서 경로를 제공하는 방법 및 장치 | |
KR102664410B1 (ko) | 다중 센서 및 인공지능에 기반하여 맵을 생성하고 맵을 이용하여 주행하는 로봇 | |
JP4720805B2 (ja) | 画像処理装置及びプログラム | |
JP5826368B2 (ja) | 地図情報処理装置 | |
JP6982954B2 (ja) | マップマッチング処理装置、マップマッチング処理プログラム及び交通関連システム | |
Janarthanan et al. | Implementation of Gamified Navigation and Location Mapping Using Augmented Reality |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C53 | Correction of patent of invention or patent application | ||
CB02 | Change of applicant information |
Address after: Gyeongnam Changwon City, South Korea Applicant after: SAMSUNG TECHWIN CO., LTD. Address before: Gyeongnam Changwon City, South Korea Applicant before: Samsung Techwin Co., Ltd. |
|
COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: SAMSUNG TAI KEWEI CO., LTD. TO: HANWHA TECHWIN CO., LTD. Free format text: CORRECT: ADDRESS; FROM: |
|
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20171107 Address after: Gyeongnam Changwon City, South Korea Applicant after: Korea lander Systems Inc Address before: Gyeongnam Changwon City, South Korea Applicant before: SAMSUNG TECHWIN CO., LTD. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: Gyeongnam Changwon City, South Korea Patentee after: Hanhuadi Fos Co., Ltd. Address before: Gyeongnam Changwon City, South Korea Patentee before: Korea lander Systems Inc |
|
CP01 | Change in the name or title of a patent holder | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181221 Termination date: 20191218 |
|
CF01 | Termination of patent right due to non-payment of annual fee |