CN104142971B - 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
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- CN104142971B CN104142971B CN201310700706.4A CN201310700706A CN104142971B CN 104142971 B CN104142971 B CN 104142971B CN 201310700706 A CN201310700706 A CN 201310700706A CN 104142971 B CN104142971 B CN 104142971B
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
-
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—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
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- 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
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- G—PHYSICS
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- 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)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Computing Systems (AREA)
- Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Biology (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 (10)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020130051497A KR101883473B1 (ko) | 2013-05-07 | 2013-05-07 | 이동로봇의 지도 작성 장치 및 방법 |
KR10-2013-0051497 | 2013-05-07 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104142971A CN104142971A (zh) | 2014-11-12 |
CN104142971B true CN104142971B (zh) | 2018-12-21 |
Family
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Application Number | Title | Priority Date | Filing Date |
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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) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
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 |
US9789919B1 (en) | 2016-03-22 | 2017-10-17 | Google Inc. | Mitigating sensor noise in legged robots |
WO2019004633A1 (ko) * | 2017-06-30 | 2019-01-03 | 엘지전자 주식회사 | 이동 로봇의 동작 방법 및 이동 로봇 |
US11274929B1 (en) * | 2017-10-17 | 2022-03-15 | AI Incorporated | Method for constructing a map while performing work |
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 |
CN113252034A (zh) * | 2020-02-12 | 2021-08-13 | 华为技术有限公司 | 一种路径规划方法及相关设备 |
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 |
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 |
Citations (1)
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WO2012106075A1 (en) * | 2011-02-05 | 2012-08-09 | Wifislam, Inc. | Method and apparatus for mobile location determination |
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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)
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WO2012106075A1 (en) * | 2011-02-05 | 2012-08-09 | Wifislam, Inc. | Method and apparatus for mobile location determination |
Non-Patent Citations (2)
Title |
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基于四叉树的邻域查询技术;张岑等;《系统仿真学报》;20011130;第13卷;第48-50页 * |
基于线性四叉树的快速邻域查询算法;赵慧等;《计算机工程与设计》;20070930;第28卷(第18期);第4333-4335页 * |
Also Published As
Publication number | Publication date |
---|---|
US20140334713A1 (en) | 2014-11-13 |
CN104142971A (zh) | 2014-11-12 |
US9207678B2 (en) | 2015-12-08 |
KR20140132228A (ko) | 2014-11-17 |
KR101883473B1 (ko) | 2018-07-30 |
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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. |
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