CN104972462A - 自移动机器人避障行走方法 - Google Patents
自移动机器人避障行走方法 Download PDFInfo
- Publication number
- CN104972462A CN104972462A CN201410148490.XA CN201410148490A CN104972462A CN 104972462 A CN104972462 A CN 104972462A CN 201410148490 A CN201410148490 A CN 201410148490A CN 104972462 A CN104972462 A CN 104972462A
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- movement robot
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 215
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000003860 storage Methods 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (11)
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410148490.XA CN104972462B (zh) | 2014-04-14 | 2014-04-14 | 自移动机器人避障行走方法 |
JP2016562594A JP6622215B2 (ja) | 2014-04-14 | 2015-04-14 | 自走式ロボットの障害物回避走行方法 |
US15/304,039 US10248126B2 (en) | 2014-04-14 | 2015-04-14 | Obstacle avoidance walking method of self-moving robot |
PCT/CN2015/076510 WO2015158240A1 (zh) | 2014-04-14 | 2015-04-14 | 自移动机器人避障行走方法 |
KR1020167031679A KR102329060B1 (ko) | 2014-04-14 | 2015-04-14 | 자가 이동로봇의 장애물을 회피한 보행방법 |
EP15779458.7A EP3133457B1 (en) | 2014-04-14 | 2015-04-14 | Obstacle avoidance walking method of self-moving robot |
US16/275,216 US11112800B2 (en) | 2014-04-14 | 2019-02-13 | Obstacle avoidance walking method of self-moving robot |
US17/393,082 US11768496B2 (en) | 2014-04-14 | 2021-08-03 | Obstacle-avoidance moving method of self-moving robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410148490.XA CN104972462B (zh) | 2014-04-14 | 2014-04-14 | 自移动机器人避障行走方法 |
Publications (2)
Publication Number | Publication Date |
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CN104972462A true CN104972462A (zh) | 2015-10-14 |
CN104972462B CN104972462B (zh) | 2017-04-19 |
Family
ID=54269697
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410148490.XA Active CN104972462B (zh) | 2014-04-14 | 2014-04-14 | 自移动机器人避障行走方法 |
Country Status (6)
Country | Link |
---|---|
US (3) | US10248126B2 (zh) |
EP (1) | EP3133457B1 (zh) |
JP (1) | JP6622215B2 (zh) |
KR (1) | KR102329060B1 (zh) |
CN (1) | CN104972462B (zh) |
WO (1) | WO2015158240A1 (zh) |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106020207A (zh) * | 2016-07-26 | 2016-10-12 | 广东宝乐机器人股份有限公司 | 自移动机器人行走方法与装置 |
CN106155056A (zh) * | 2016-07-26 | 2016-11-23 | 广东宝乐机器人股份有限公司 | 自移动机器人行走方法与装置 |
CN107468160A (zh) * | 2017-08-10 | 2017-12-15 | 宁波菜鸟智能科技有限公司 | 一种有线智能吸尘器清扫方法 |
CN107807650A (zh) * | 2017-11-29 | 2018-03-16 | 莱克电气股份有限公司 | 一种机器人的运动控制方法、装置及设备 |
CN107885213A (zh) * | 2017-11-22 | 2018-04-06 | 广东艾可里宁机器人智能装备有限公司 | 一种扫地机器人室内导航系统及方法 |
WO2018120489A1 (zh) * | 2016-12-29 | 2018-07-05 | 珠海市一微半导体有限公司 | 一种智能机器人的路径规划方法 |
CN108345303A (zh) * | 2018-01-24 | 2018-07-31 | 五邑大学 | 一种基于导引带与机器人的新型电动汽车充电服务系统 |
CN108958243A (zh) * | 2018-06-27 | 2018-12-07 | 芜湖市越泽机器人科技有限公司 | 一种机器人躲避障碍物控制方法 |
CN109077674A (zh) * | 2018-06-28 | 2018-12-25 | 芜湖泰领信息科技有限公司 | 扫地机的自动避障方法及智能扫地机 |
CN109425352A (zh) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | 自移动机器人路径规划方法 |
CN109634276A (zh) * | 2018-12-13 | 2019-04-16 | 中联重科股份有限公司 | 农用车辆无人驾驶控制方法、系统及该农用车辆 |
CN111061263A (zh) * | 2019-11-27 | 2020-04-24 | 小狗电器互联网科技(北京)股份有限公司 | 机器人清扫绕障的方法和扫地机器人 |
WO2020093562A1 (zh) * | 2018-11-07 | 2020-05-14 | 深圳乐动机器人有限公司 | 一种室内清扫规划的方法、装置及机器人 |
CN111347415A (zh) * | 2018-12-21 | 2020-06-30 | 广东宝乐机器人股份有限公司 | 擦窗机器人移动控制方法、移动控制系统及擦窗机器人 |
CN113589806A (zh) * | 2021-07-21 | 2021-11-02 | 珠海一微半导体股份有限公司 | 机器人弓字型行走时的策略控制方法 |
CN114578348A (zh) * | 2022-05-05 | 2022-06-03 | 深圳安德空间技术有限公司 | 一种基于深度学习的探地雷达自主式智能扫查及导航方法 |
CN117282698A (zh) * | 2023-09-20 | 2023-12-26 | 宁夏隆基宁光仪表股份有限公司 | 一种光伏清洁机器人及其自主选择清洁路线的方法 |
Families Citing this family (22)
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CN104972462B (zh) | 2014-04-14 | 2017-04-19 | 科沃斯机器人股份有限公司 | 自移动机器人避障行走方法 |
US9751210B2 (en) * | 2014-11-26 | 2017-09-05 | Irobot Corporation | Systems and methods for performing occlusion detection |
US9519289B2 (en) | 2014-11-26 | 2016-12-13 | Irobot Corporation | Systems and methods for performing simultaneous localization and mapping using machine vision systems |
DE102015109775B3 (de) | 2015-06-18 | 2016-09-22 | RobArt GmbH | Optischer Triangulationssensor zur Entfernungsmessung |
DE102015114883A1 (de) | 2015-09-04 | 2017-03-09 | RobArt GmbH | Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters |
DE102015119501A1 (de) | 2015-11-11 | 2017-05-11 | RobArt GmbH | Unterteilung von Karten für die Roboternavigation |
DE102015119865B4 (de) | 2015-11-17 | 2023-12-21 | RobArt GmbH | Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters |
DE102015121666B3 (de) | 2015-12-11 | 2017-05-24 | RobArt GmbH | Fernsteuerung eines mobilen, autonomen Roboters |
DE102016102644A1 (de) | 2016-02-15 | 2017-08-17 | RobArt GmbH | Verfahren zur Steuerung eines autonomen mobilen Roboters |
US11709489B2 (en) | 2017-03-02 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous, mobile robot |
CN106959695B (zh) * | 2017-04-24 | 2019-08-02 | 广东宝乐机器人股份有限公司 | 移动机器人在工作区域内的角度修正方法及移动机器人 |
CN107505939B (zh) * | 2017-05-13 | 2019-07-12 | 大连理工大学 | 一种移动机器人的全覆盖路径规划方法 |
CN107314773B (zh) * | 2017-08-18 | 2019-10-01 | 广东宝乐机器人股份有限公司 | 移动机器人的地图创建方法及基于该地图的路径规划方法 |
CN109753074A (zh) * | 2019-01-28 | 2019-05-14 | 北京猎户星空科技有限公司 | 一种机器人巡航控制方法、装置、控制设备和存储介质 |
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CN115268470B (zh) * | 2022-09-27 | 2023-08-18 | 深圳市云鼠科技开发有限公司 | 清洁机器人的障碍物位置标记方法、装置以及介质 |
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CN104972462B (zh) | 2014-04-14 | 2017-04-19 | 科沃斯机器人股份有限公司 | 自移动机器人避障行走方法 |
CN104977926A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人局部避障行走方法 |
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2014
- 2014-04-14 CN CN201410148490.XA patent/CN104972462B/zh active Active
-
2015
- 2015-04-14 EP EP15779458.7A patent/EP3133457B1/en active Active
- 2015-04-14 US US15/304,039 patent/US10248126B2/en active Active
- 2015-04-14 WO PCT/CN2015/076510 patent/WO2015158240A1/zh active Application Filing
- 2015-04-14 KR KR1020167031679A patent/KR102329060B1/ko active IP Right Grant
- 2015-04-14 JP JP2016562594A patent/JP6622215B2/ja active Active
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2019
- 2019-02-13 US US16/275,216 patent/US11112800B2/en active Active
-
2021
- 2021-08-03 US US17/393,082 patent/US11768496B2/en active Active
Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106155056A (zh) * | 2016-07-26 | 2016-11-23 | 广东宝乐机器人股份有限公司 | 自移动机器人行走方法与装置 |
CN106155056B (zh) * | 2016-07-26 | 2019-09-03 | 广东宝乐机器人股份有限公司 | 自移动机器人行走方法与装置 |
CN106020207A (zh) * | 2016-07-26 | 2016-10-12 | 广东宝乐机器人股份有限公司 | 自移动机器人行走方法与装置 |
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EP3133457A1 (en) | 2017-02-22 |
US10248126B2 (en) | 2019-04-02 |
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EP3133457B1 (en) | 2019-01-02 |
US20190179321A1 (en) | 2019-06-13 |
KR102329060B1 (ko) | 2021-11-19 |
US20210365030A1 (en) | 2021-11-25 |
CN104972462B (zh) | 2017-04-19 |
EP3133457A4 (en) | 2018-01-03 |
KR20170008745A (ko) | 2017-01-24 |
US20170083022A1 (en) | 2017-03-23 |
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