CN105867375A - Walking control system and walking control method of service robot - Google Patents
Walking control system and walking control method of service robot Download PDFInfo
- Publication number
- CN105867375A CN105867375A CN201610223473.7A CN201610223473A CN105867375A CN 105867375 A CN105867375 A CN 105867375A CN 201610223473 A CN201610223473 A CN 201610223473A CN 105867375 A CN105867375 A CN 105867375A
- Authority
- CN
- China
- Prior art keywords
- chassis
- service robot
- unit
- magnetic stripe
- control
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012937 correction Methods 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 239000004744 fabric Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 230000004899 motility Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012795 verification 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a walking control system and a walking control method of a service robot. The walking control system comprises the components of a walking unit, a positioning unit, a site identification unit and a controller, wherein the walking unit is arranged at the bottom of chassis of the service robot. The positioning unit comprises two magnetic navigation sensors and a magnetic stripe track. The two magnetic navigation sensors are respectively arranged at the front end and the back end of the bottom of the chassis. The site identification unit is arranged at the bottom of the chassis. The controller is connected with the positioning unit and the site identification unit. The walking control method comprises the steps of performing joint control on the walking unit through distances between the front end and the back end of the chassis and the magnetic strip track for performing pose correction, wherein the distances are acquired by the two magnetic navigation sensors, and furthermore making the service robot advance along the magnetic stripe track; and making the service robot move to a position which corresponds with a site card through the site identification unit. The walking control system and the walking control method greatly improve stability and flexibility in movement of the service robot and is suitable for relatively complicated environments of restaurant, etc.
Description
Technical field
The present invention relates to service robot field, particularly to traveling control system and the control method of a kind of service robot.
Background technology
The most domestic mobile robot, in terms of to travelling control, if using the mode of magnetic stripe navigation to carry out tracking navigation, often uses a magnetic navigation sensor being arranged in above magnetic stripe as navigation foundation.The navigation of the mobile AGV that this navigation mode is common in factory.Because the work space of factory AGV is very big, less demanding to robot dexterity, and whether robot uses the mode of omnibearing movement also without particular demands.The tracking mode the most basic list being driven to single magnetic navigation sensor has substantially met this demand.
But, if mobile robot technology gradually to be spread to general industry, such as family, the such occasion in dining room etc..So mobile AGV airmanship of factory's formula is difficult to meet such demand.Because in such working environment, working environment is more complicated compared to factory, and the activity space of robot is the most limited.So the rough airmanship of traditional that factory formula is cannot well to meet such working environment, the motility to robot proposes the highest requirement.
Traditional mobile AGV usually utilizes a magnetic navigation sensor, detects that ground magnetic stripe signal judges car body offset rail distance according to this sensor, thus controls the navigation of car body automatic tracking.It is true that this simple tracking control method there is also certain defect, for somewhat complicated path, this type of control method is cannot to correct the pose of car body in time.In real time car body pose is not corrected, depend merely on the offset distance of collection to control car body self-navigation, it is clear that such that the stability of whole equipment moving and motility are restricted.So this control method cannot meet the mobile robot for restaurant service the most somewhat complex environment.
Summary of the invention
The present invention is directed to above-mentioned problems of the prior art, traveling control system and the control method of a kind of service robot are proposed, two sensors are used to control the navigation of service robot automatic tracking, stability and the motility of service robot motion are higher, may adapt to dining room etc. and compare complex environment.
For solving above-mentioned technical problem, the present invention is achieved through the following technical solutions:
The present invention provides the traveling control system of a kind of service robot, comprising: walking unit, positioning unit, station recognition unit and controller, wherein,
Described walking unit is arranged at the bottom on the chassis of service robot；
Described positioning unit includes: two magnetic navigation sensors and magnetic stripe track, two described magnetic navigation sensors are respectively arranged at the front-end and back-end of the bottom on the chassis of described service robot, move along described magnetic stripe track in described chassis, the described magnetic navigation sensor being positioned at front end deviates the distance of described magnetic stripe track for the front end gathering described chassis, and the described magnetic navigation sensor being positioned at rear end deviates the distance of described magnetic stripe track for the rear end gathering described chassis；
Described station recognition unit is arranged at the bottom on the chassis of described service robot, is used for identifying website card；
Described controller is connected with described positioning unit and described station recognition unit, distance for the described magnetic stripe track of described chassis deviation that two described magnetic navigation sensors according to described positioning unit collect jointly controls described walking unit and carries out pose correction, and then control described service robot and advance along described magnetic stripe track, it is additionally operable to control described service robot according to described positioning unit and moves to the position that described website card is corresponding.
Preferably, described walking unit includes four Mecanum wheels, and four described Mecanum wheels are uniformly distributed along the surrounding on described chassis, lay respectively at the front end on described chassis, rear end, left end and right-hand member, further, the corresponding diverter of each described Mecanum wheel.
It is preferred that be positioned at the described Mecanum wheel of the front-end and back-end on described chassis for controlling the pose of described service robot, it is positioned at the left end on described chassis and the described Mecanum wheel of right-hand member for controlling the speed of described service robot.
It is preferred that when the distance that described magnetic stripe track is deviateed on the described chassis that described magnetic navigation sensor collects exceedes predetermined threshold value, described control unit just controls described walking unit and carries out pose adjustment.
It is preferred that described controller includes:
Pose correction unit, for carrying out pose correction according to described positioning unit to described service robot；
Speed control unit, for being controlled the speed of described walking unit, and then controls the speed of described service robot, and
Station recognition control unit, for being controlled the beginning and end of service robot according to station recognition unit.
It is preferred that described station recognition unit is RFID sensor.
It is preferred that described station recognition unit is positioned at the center on described chassis.
The present invention also provides for the ambulation control method of a kind of service robot, and it comprises the following steps:
S11: jointly control described walking unit by the distance being arranged on the described chassis deviation magnetic stripe track that two magnetic navigation sensors of the front-end and back-end of the bottom on the chassis of service robot collect and carry out pose correction, and then control described service robot and advance along described magnetic stripe track；
S12: move to the position that website card is corresponding by being arranged on the station recognition unit described service robot of control of the bottom on the chassis of described service robot.
It is preferred that the bottom on the chassis of described walking unit is provided with four Mecanum wheels, four described Mecanum wheels are uniformly distributed along the surrounding on described chassis, lay respectively at the front end on described chassis, rear end, left end and right-hand member；
Described step S11 is particularly as follows: the distance of described magnetic stripe track is deviateed in the front end on the described chassis collected by the described magnetic navigation sensor of the front end of the bottom on the chassis that is arranged on described service robot controls the described Mecanum wheel of front end and move, the distance deviateing described magnetic stripe track by being arranged on the rear end on the described chassis that the described magnetic navigation sensor of the rear end of the bottom on the chassis of described service robot collects controls the described Mecanum wheel motion of rear end, jointly control described walking unit and carry out pose correction, and then control described service robot and advance along described magnetic stripe track.
It is preferred that when described magnetic stripe sensor acquisition to described chassis deviate described magnetic stripe track distance exceed predetermined threshold value time, just control described walking unit and carry out pose correction.
Compared to prior art, the invention have the advantages that
(1) present invention provides the traveling control system of service robot and control method thereof, be by former and later two sensor acquisition of chassis to signal calculate the distance at offset track center before and after chassis respectively, thus the position and attitude of the overall car body drawn, and it is not the offset distance of single deviating track centrage, substantially increase motility and stability that robot runs；
(2) present invention sets the predetermined threshold value of chassis deviation magnetic stripe track, and suitably expand the threshold value of offset track, robot is made to adjust pose the most frequently, simply just can automatically correct pose offset distance is bigger when, avoid robot somewhat gap and the most frequently adjust pose, which further increases the stability of entirety, substantially increase machine task efficiency.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings embodiments of the present invention are described further:
Fig. 1 is the structural representation of the traveling control system of the service robot of the present invention；
Fig. 2 is the structural representation on the chassis of the walking unit of the traveling control system of the service robot of the present invention；
Fig. 3 is the layout schematic diagram of the Mecanum wheel of the traveling control system of the service robot of the present invention；
Fig. 4 a is walking the front-wheel left avertence of unit, the schematic diagram of trailing wheel left avertence of the present invention；
Fig. 4 b is walking the front-wheel left avertence of unit, the schematic diagram of trailing wheel right avertence of the present invention；
Fig. 4 c is walking the front-wheel right avertence of unit, the schematic diagram of trailing wheel left avertence of the present invention；
Fig. 4 d is walking the front-wheel right avertence of unit, the schematic diagram of trailing wheel right avertence of the present invention；
Fig. 4 e is the walking front-wheel of unit, the schematic diagram of the equal unbiased of trailing wheel of the present invention；
Fig. 5 is the flow chart of the ambulation control method of the service robot of the present invention.
Label declaration: 1-walks unit, 2-positioning unit, 3-station recognition unit, 4-controller, 5-chassis；
11-the first Mecanum wheel, 12-the second Mecanum wheel, 13-the 3rd Mecanum wheel, 14-the 4th Mecanum wheel；
21-the first magnetic navigation sensor, 22-the second magnetic navigation sensor.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, gives detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1:
In conjunction with Fig. 1-Fig. 4, the traveling control system of the service robot of the present invention is described in detail by the present embodiment, is illustrated in figure 1 its structural representation, comprising: walking unit 1, positioning unit 2, station recognition unit 3 and controller 4.It is illustrated in figure 2 the structural representation on the chassis of service robot, walking unit 1 is arranged at the bottom on the chassis 5 of service robot, positioning unit 2 includes two magnetic navigation sensors, it is respectively the first magnetic navigation sensor 21 and the second magnetic navigation sensor 22, also include the magnetic stripe track corresponding with magnetic navigation sensor, magnetic navigation sensor is arranged at the bottom on chassis 5, along the direction of motion, first magnetic navigation sensor 21 is positioned at the front end on chassis 5, the distance of magnetic stripe track is deviateed for gathering the front end on chassis 5, and by the distance signal transmission that collects to controller, second magnetic navigation sensor 22 is positioned at the rear end on chassis 5, the distance of magnetic stripe track is deviateed for gathering the rear end on chassis 5, and by the distance signal transmission that collects to controller；Controller 4 is connected with the magnetic navigation sensor of positioning unit 2, also it is connected with station recognition unit 3, can be wireless connections, it can also be wired connection, controller 4 jointly controls walking unit 1 for the distance signal come according to two magnetic navigation sensor transmission and service robot is carried out pose adjustment, service robot is made to advance along magnetic stripe track, it is additionally operable to the website card signal collected according to station recognition unit 3, make service robot run to, along magnetic stripe track, the position that website card is corresponding, complete the service specified.
nullIn the present embodiment，Walking unit 1 includes four Mecanum wheels，It is respectively the first Mecanum wheel 11、Second Mecanum wheel 12、3rd Mecanum wheel 13 and the 4th Mecanum wheel 14，Four Mecanum wheels are uniformly distributed along the surrounding on chassis 5，See along the direction of motion，First Mecanum wheel 11 is positioned at the front end on chassis 5，3rd Mecanum wheel 13 is positioned at the rear end on chassis 5，Second Mecanum wheel 12 and the 4th Mecanum wheel 14 lay respectively at right-hand member and the left end on chassis 5，First Mecanum wheel 11 and the 3rd Mecanum wheel 13 are used for the adjustment of service robot pose，Second Mecanum wheel 12 and the 4th Mecanum wheel 14 are used for the adjustment of service robot speed，This is major function，The most also both are carried out certain speed difference and carry out the pose of assist control service robot.Being illustrated in figure 3 the layout schematic diagram of Mecanum wheel, as shown in figs. 4a-4e, 4a show front-wheel left avertence, the situation of trailing wheel left avertence to the pose being likely to occur in actual motion, and Fig. 4 b show front-wheel left avertence, the situation of trailing wheel right avertence；Fig. 4 c show front-wheel right avertence, the situation of trailing wheel left avertence；Fig. 4 d show front-wheel right avertence, the situation of trailing wheel right avertence；Fig. 4 e show front-wheel, trailing wheel equal unbiased situation, is now made without pose correction；If chassis location is similar to described in Fig. 4 b, its position can draw according to the first magnetic navigation sensor 21 and the second magnetic navigation sensor 22, now front-wheel left avertence, trailing wheel right avertence, after controller analyzes result, control information is sent to motor based on this result, the electric machine rotation making its front-wheel is allowed to move to right near magnetic stripe track, and the electric machine rotation of trailing wheel is allowed to move to left near magnetic stripe track, the position of such service robot can real time correction to the center of magnetic stripe track.Jointly controlling walking unit by the signal of former and later two magnetic navigation sensors and carry out pose adjustment, make service robot tracking more accurate, stabilization of equipment performance and motility are higher, go for dining room etc. and compare complex environment.
In the present embodiment, station recognition unit 3 uses RFID sensor, it is arranged at the center on chassis 5, in dining room, it is actual is exactly the identification to dining table, the corresponding different website card of each dining table, and RFID sensor is by gathering website card signal, website card signal is sent to controller 4, and the website card signal collected constantly is contrasted with the website in system and mates by controller 4.Also not arriving appointed place without collecting the just explanation of any website card signal, continuation is normally walked by robot according to magnetic stripe track；If station recognition unit collects website card signal, but the dining table number of this signal and input not corresponding, then and system will ignore this signal collected, and not perform stopping action, be still within normal tracking motor pattern；When station recognition unit collects website card signal, and this signal is consistent with the dining table number of input, then controller 4 just controls walking unit 1 stop motion, makes service robot be parked in the position specified, carries out follow-up service.
In preferred embodiment, so that service robot meets certain stability, service robot is made to correct pose in running the most frequently, if service robot somewhat offset track in running just corrects pose, the result occurred in actual motion is exactly that service robot runs the most unstable, and that waves is the most severe.In the present embodiment, set a predetermined threshold value, when only deviation exceedes this predetermined threshold value, controller 4 just carries out pose adjustment to chassis, and when somewhat producing some offset distances, system still believes that does not has offset distance, by expanding predetermined threshold value, substantially increase the stability of service robot.It is preferred that this predetermined threshold value is 15mm, say, that within front and back chassis deviation magnetic stripe track 15mm, when the program of design, we think that chassis is in the centre of magnetic stripe track, offset without pose, i.e. need not make the action correcting pose；When before and after only, vehicle body offset track center is more than 15mm, we the most just think that chassis produces offset distance, the most just start to do the pose correction action on chassis, through experimental verification, when using this threshold value, the chassis of service robot is when moving, and no matter straight way or bend, whole service robot runs the most stable.
Embodiment 2:
In conjunction with Fig. 5, the ambulation control method of the service robot of the present invention is described in detail by the present embodiment, and its flow chart is as it is shown in figure 5, comprise the following steps:
S11: jointly control walking unit by the distance being arranged on the chassis deviation magnetic stripe track that two magnetic navigation sensors of the front-end and back-end of the bottom on the chassis of service robot collect and carry out pose correction, and then control service robot along the traveling of magnetic stripe track；
S12: move to the position that website card is corresponding by being arranged on the station recognition unit control service robot of the bottom on the chassis of service robot.
In the present embodiment, step S11 is particularly as follows: the Mecanum wheel that the distance of front end deviation magnetic stripe track on the chassis collected by the magnetic navigation sensor of the front end of the bottom on the chassis that is arranged on service robot controls front end moves, the distance deviateing magnetic stripe track by being arranged on the rear end on the chassis that the magnetic navigation sensor of the rear end of the bottom on the chassis of service robot collects controls the Mecanum wheel motion of rear end, jointly control walking unit and carry out pose correction, and then control service robot along the traveling of magnetic stripe track.Further, when magnetic stripe sensor acquisition to chassis deviation magnetic stripe track distance exceed predetermined threshold value time, just control walk unit carry out pose correction, substantially increase the stability of service robot.
Disclosed herein is only the preferred embodiments of the present invention, and these embodiments are chosen and specifically described to this specification, is to preferably explain the principle of the present invention and actual application, is not limitation of the invention.The modifications and variations that any those skilled in the art are done in the range of description, all should fall in the range of the present invention is protected.
Claims (10)
1. the traveling control system of a service robot, it is characterised in that including: walking unit, fixed
Bit location, station recognition unit and controller, wherein,
Described walking unit is arranged at the bottom on the chassis of service robot；
Described positioning unit includes: two magnetic navigation sensors and magnetic stripe track, two described magnetic navigations
Sensor is respectively arranged at the front-end and back-end of the bottom on the chassis of described service robot, edge, described chassis
Described magnetic stripe track moves, and is positioned at the described magnetic navigation sensor of front end for gathering the front end on described chassis
Deviate the distance of described magnetic stripe track, be positioned at the described magnetic navigation sensor of rear end for gathering described chassis
Rear end deviate described magnetic stripe track distance；
Described station recognition unit is arranged at the bottom on the chassis of described service robot, is used for identifying website
Card；
Described controller is connected with described positioning unit and described station recognition unit, for according to described
Described chassis that two described magnetic navigation sensors of positioning unit collect deviate described magnetic stripe track away from
Carry out pose correction from jointly controlling described walking unit, and then control described service robot along described
Magnetic stripe track is advanced, and is additionally operable to control described service robot according to described positioning unit and moves to described station
The position that some card is corresponding.
The control system of service robot the most according to claim 1, it is characterised in that described row
Walking unit and include four Mecanum wheels, four described Mecanum wheels uniformly divide along the surrounding on described chassis
Cloth, lays respectively at the front end on described chassis, rear end, left end and right-hand member, further,
The corresponding diverter of each described Mecanum wheel.
The control system of service robot the most according to claim 2, it is characterised in that be positioned at institute
State the described Mecanum wheel of front-end and back-end on chassis for controlling the pose of described service robot, position
Left end and the described Mecanum wheel of right-hand member in described chassis are used for controlling the speed of described service robot
Degree.
The control system of service robot the most according to claim 1, it is characterised in that when described
When the distance of the described magnetic stripe track of described chassis deviation that magnetic navigation sensor collects exceedes predetermined threshold value,
Described control unit just controls described walking unit and carries out pose adjustment.
The control system of service robot the most according to claim 1, it is characterised in that described control
Device processed includes:
Pose correction unit, for carrying out pose correction according to described positioning unit to described service robot；
Speed control unit, for being controlled the speed of described walking unit, and then controls described clothes
The speed of business robot, and
Station recognition control unit, for according to the station recognition unit beginning and end to service robot
It is controlled.
The control system of service robot the most according to claim 1, it is characterised in that described station
Point recognition unit is RFID sensor.
The control system of service robot the most according to claim 1, it is characterised in that described station
Point recognition unit is positioned at the center on described chassis.
8. the ambulation control method of a service robot, it is characterised in that comprise the following steps:
S11: pass by being arranged on two magnetic navigations of the front-end and back-end of the bottom on the chassis of service robot
The distance of the described chassis deviation magnetic stripe track that sensor collects carries out position to jointly control described walking unit
Appearance corrects, and then controls described service robot and advance along described magnetic stripe track；
S12: control described by being arranged on the station recognition unit of the bottom on the chassis of described service robot
Service robot moves to the position that website card is corresponding.
Ambulation control method the most according to claim 8, it is characterised in that described walking unit
The bottom on chassis is provided with four Mecanum wheels, and four described Mecanum wheels are along around described chassis
It is uniformly distributed, lays respectively at the front end on described chassis, rear end, left end and right-hand member；
Described step S11 is particularly as follows: by the front end of the bottom on the chassis that is arranged on described service robot
The front end on described chassis that collects of described magnetic navigation sensor deviate the distance of described magnetic stripe track and control
The described Mecanum wheel motion of front end processed, by being arranged on the bottom on the chassis of described service robot
The distance of described magnetic stripe track is deviateed in the rear end on the described chassis that the described magnetic navigation sensor of rear end collects
Control the described Mecanum wheel motion of rear end, jointly control described walking unit and carry out pose correction,
And then control described service robot and advance along described magnetic stripe track.
Ambulation control method the most according to claim 8, it is characterised in that described step S11
In, when described magnetic stripe sensor acquisition to described chassis deviate described magnetic stripe track distance exceed default
During threshold value, just control described walking unit and carry out pose correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610223473.7A CN105867375A (en) | 2016-04-12 | 2016-04-12 | Walking control system and walking control method of service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610223473.7A CN105867375A (en) | 2016-04-12 | 2016-04-12 | Walking control system and walking control method of service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105867375A true CN105867375A (en) | 2016-08-17 |
Family
ID=56636658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610223473.7A Pending CN105867375A (en) | 2016-04-12 | 2016-04-12 | Walking control system and walking control method of service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105867375A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450549A (en) * | 2017-08-25 | 2017-12-08 | 英华达（上海）科技有限公司 | A kind of AGV control systems and control method, AGV system |
| CN108227598A (en) * | 2018-03-27 | 2018-06-29 | 济南大学 | A kind of clearance removal of mines robot control system moved in parallel |
| CN108858128A (en) * | 2018-07-27 | 2018-11-23 | 深圳市施罗德工业测控设备有限公司 | A kind of robot track |
| CN108919801A (en) * | 2018-06-29 | 2018-11-30 | 大连大学 | A kind of Mecanum wheel omnidirectional bobbin movement direction correction control device |
| CN109189063A (en) * | 2018-08-24 | 2019-01-11 | 湖南超能机器人技术有限公司 | Magnetic navigation method of adjustment applied to Ackermam structural chassis robot |
| CN109491374A (en) * | 2017-09-12 | 2019-03-19 | 杭州海康机器人技术有限公司 | The track adjusting method and device of automatic guided vehicle |
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
| CN109940621A (en) * | 2019-04-18 | 2019-06-28 | 深圳市三宝创新智能有限公司 | A kind of method of servicing and system and its apparatus of robot, hotel |
| CN110834597A (en) * | 2019-11-18 | 2020-02-25 | 上海应用技术大学 | Solar all-dimensional intelligent moving trolley |
| CN112859828A (en) * | 2019-11-27 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and automatic working system |
| CN115042188A (en) * | 2022-07-19 | 2022-09-13 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
| CN115042188B (en) * | 2022-07-19 | 2024-04-30 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1618578A (en) * | 2003-11-18 | 2005-05-25 | 中国科学院自动化研究所 | Driving structure and driving method of mobile orbot platform |
| CN101984382A (en) * | 2010-10-15 | 2011-03-09 | 重庆市电力公司超高压局 | Method for intelligently inspection substation equipment by using robot |
| CN102506891A (en) * | 2011-11-28 | 2012-06-20 | 重庆大学 | Mileage detection method for magnetic-navigation wheeled autonomous mobile robot |
| CN104298240A (en) * | 2014-10-22 | 2015-01-21 | 湖南格兰博智能科技有限责任公司 | Guiding robot and control method thereof |
| JP2015513161A (en) * | 2012-04-13 | 2015-04-30 | エコバクス ロボティクス カンパニー リミテッド | Autonomous mobile ground treatment robot and control method for cleaning operation thereof |
| CN205058052U (en) * | 2015-09-23 | 2016-03-02 | 众德迪克科技（北京）有限公司 | Robot with indoor navigation feature |
-
2016
- 2016-04-12 CN CN201610223473.7A patent/CN105867375A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1618578A (en) * | 2003-11-18 | 2005-05-25 | 中国科学院自动化研究所 | Driving structure and driving method of mobile orbot platform |
| CN101984382A (en) * | 2010-10-15 | 2011-03-09 | 重庆市电力公司超高压局 | Method for intelligently inspection substation equipment by using robot |
| CN102506891A (en) * | 2011-11-28 | 2012-06-20 | 重庆大学 | Mileage detection method for magnetic-navigation wheeled autonomous mobile robot |
| JP2015513161A (en) * | 2012-04-13 | 2015-04-30 | エコバクス ロボティクス カンパニー リミテッド | Autonomous mobile ground treatment robot and control method for cleaning operation thereof |
| CN104298240A (en) * | 2014-10-22 | 2015-01-21 | 湖南格兰博智能科技有限责任公司 | Guiding robot and control method thereof |
| CN205058052U (en) * | 2015-09-23 | 2016-03-02 | 众德迪克科技（北京）有限公司 | Robot with indoor navigation feature |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450549A (en) * | 2017-08-25 | 2017-12-08 | 英华达（上海）科技有限公司 | A kind of AGV control systems and control method, AGV system |
| CN109491374A (en) * | 2017-09-12 | 2019-03-19 | 杭州海康机器人技术有限公司 | The track adjusting method and device of automatic guided vehicle |
| CN108227598A (en) * | 2018-03-27 | 2018-06-29 | 济南大学 | A kind of clearance removal of mines robot control system moved in parallel |
| CN108919801A (en) * | 2018-06-29 | 2018-11-30 | 大连大学 | A kind of Mecanum wheel omnidirectional bobbin movement direction correction control device |
| CN108858128A (en) * | 2018-07-27 | 2018-11-23 | 深圳市施罗德工业测控设备有限公司 | A kind of robot track |
| CN109189063A (en) * | 2018-08-24 | 2019-01-11 | 湖南超能机器人技术有限公司 | Magnetic navigation method of adjustment applied to Ackermam structural chassis robot |
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
| CN109940621A (en) * | 2019-04-18 | 2019-06-28 | 深圳市三宝创新智能有限公司 | A kind of method of servicing and system and its apparatus of robot, hotel |
| CN109940621B (en) * | 2019-04-18 | 2022-05-31 | 深圳市三宝创新智能有限公司 | Service method, system and device of hotel robot |
| CN110834597A (en) * | 2019-11-18 | 2020-02-25 | 上海应用技术大学 | Solar all-dimensional intelligent moving trolley |
| CN112859828A (en) * | 2019-11-27 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and automatic working system |
| CN115042188A (en) * | 2022-07-19 | 2022-09-13 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
| CN115042188B (en) * | 2022-07-19 | 2024-04-30 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105867375A (en) | Walking control system and walking control method of service robot | |
| CN110286674B (en) | Angle correction method of mobile robot in working area and mobile robot | |
| CN103777637B (en) | Areflexia plate Laser Self navigation AGV dolly and air navigation aid thereof | |
| US8761989B1 (en) | Method of material handling with automatic guided vehicles | |
| KR102192530B1 (en) | Automated guided vehicle, system with a computer and an automated guided vehicle, method for planning a virtual track and method for operating an automated guided vehicle | |
| CN200974567Y (en) | Cleaning robot running gear | |
| CN108052102B (en) | Robot travel route determining method and device and robot | |
| CN110502010A (en) | A kind of automatic navigation control method in the mobile robot room based on Bezier | |
| CN108180911B (en) | Method for automatically generating correction path by AGV | |
| CN108459600A (en) | A kind of vision navigation system of AGV trolleies | |
| US8447454B2 (en) | Control method for a robot vehicle, and robot vehicle | |
| CN111474930B (en) | Tracking control method, device, equipment and medium based on visual positioning | |
| JP2018022493A (en) | Autonomous mobile apparatus and method for establishing navigation route | |
| CN105278533A (en) | Omnidirectional moving platform navigation method | |
| CN104155977B (en) | Production line free path AGV robot positioning systems and localization method | |
| WO2019031168A1 (en) | Mobile body and method for control of mobile body | |
| JP6991119B2 (en) | Path control method in automatic driving | |
| CN114879704B (en) | Robot obstacle-avoiding control method and system | |
| CN109085840B (en) | Vehicle navigation control system and control method based on binocular vision | |
| KR20120072043A (en) | Apparatus, method and system for automatic vehicle induction | |
| CN112644489A (en) | Lane following control apparatus and method | |
| CN114265409A (en) | Track information processing method and device and ground equipment | |
| CN106168803A (en) | A kind of location aware method for moving robot | |
| WO2019069626A1 (en) | Moving vehicle | |
| CN108827336A (en) | One kind being based on unpiloted paths planning method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160817 |
|
| RJ01 | Rejection of invention patent application after publication |