CN106020201A - Mobile robot 3D navigation and positioning system and navigation and positioning method - Google Patents
Mobile robot 3D navigation and positioning system and navigation and positioning method Download PDFInfo
- Publication number
- CN106020201A CN106020201A CN201610549090.9A CN201610549090A CN106020201A CN 106020201 A CN106020201 A CN 106020201A CN 201610549090 A CN201610549090 A CN 201610549090A CN 106020201 A CN106020201 A CN 106020201A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- data
- processing unit
- central processing
- 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
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
- G05D1/0246—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
- G05D1/0231—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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
Abstract
The invention relates to the field of positioning navigation, and particularly relates to a mobile robot 3D navigation and positioning system, which comprises a robot. The front end of the robot is provided with an image acquisition module; the robot is internally provided with a central processor, an MUC module, an image correction module, a path adjustment module and a robot walking and moving module; the central processor is connected with the image acquisition module; the central processor is in interactive connection with the MUC; and the MUC is respectively connected with the image correction module, the path adjustment module and the robot walking and moving module. The system and the method of the invention have the beneficial effects that the 3D camera is adopted as a data acquisition front end, the middle RGB camera is matched for environmental object recognition, mutual correction is carried out on data acquired by an infrared sensor, through the fusion technology between an encoder and an acceleration sensor, an environmental map is drawn in combination with an SLAM algorithm, and a set of navigation, positioning, ranging and path planning scheme for the mobile robot is designed.
Description
Technical field
The present invention relates to positioning and navigation field, espespecially a kind of mobile robot 3D navigation positioning system and navigation locating method.
Background technology
Current localization for Mobile Robot navigation field mainly or is navigated by magnetic stripe or uses 2D laser radar module to carry out navigator fix, is primarily present following shortcoming:
1. magnetic stripe navigation needs to stick magnetic stripe on travel route in advance, destroys the structure of original environment, and dumb.
2.2D range laser radar cannot complete the three dimensional depth visual performance of common front scanning radar.
3. the scene in approximately the same plane can only be scanned, and cannot be carried out barrier material identification.
4.2D range laser radar can only be one-line scanning, the most inevitably causes the missing inspection than more serious barrier and false phenomenon.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of mobile robot 3D navigation positioning system and navigation locating method.
For achieving the above object, the present invention adopts the following technical scheme that and is: a kind of mobile robot 3D navigation positioning system, including robot, described robot front end is provided with image capture module, central processing unit, MUC module, image modification module, path adjusting module and robot ambulation mobile module it is provided with in described robot, described central processing unit is connected with image capture module, described central processing unit and MUC connect alternately, described MUC is connected with image modification module, path adjusting module and robot ambulation mobile module respectively
Wherein, robot gathers data by image capture module and transmits to central processing unit and carry out the identification of environmental objects, MCU uploads to move distance calculating in central processing unit and position and plan track route by image modification module collection data simultaneously, the track route of described path adjusting module correction planning also controls robot ambulation mobile module data transmission to MUC, MUC and avoids run into barrier.
Preferably, described image capture module is 3D photographic head.
Preferably, described image capture module uses laser radar to carry out environmental data scanning.
Preferably, described image modification module includes that RGB photographic head and infrared sensor, described RGB photographic head and infrared sensor are connected with MUC input respectively.
Preferably, described path adjusting module includes that encoder and acceleration transducer, described encoder and acceleration transducer are connected with MUC input respectively.
Preferably, described robot ambulation mobile module includes two-wheel motor and is controlled the walking list of walking by two-wheel motor.Unit.
The operation principle of the present invention: the environmental data in 3D camera collection robot front also transmits the data collected to central processing unit, RGB photographic head carries out environmental objects identification and the environmental objects identification data after identifying is transmitted to central processing unit, now central processing unit combines RGB photographic head and mutually revises the data of environmental objects identification data with infrared sensor collection, central processing unit moves distance calculate and position and plan track route, if 3D camera collection has barrier to front in walking process, pass through encoder, the track route of the path adjusting module correction planning described in acceleration transducer also feeds back to MUC, central processing unit and MCU data interaction data also calculate the navigator fix of mobile robot, range finding, path planning route.
The navigation locating method of robot 3D navigation positioning system is moved in a kind of application, comprises the steps:
Step one: robot starts, by the 3D camera collection ambient data of robot front end, sends data to be analyzed processing in central processing unit, draws out surrounding map by SLAM algorithm；
Step 2: mapping complete after central processing unit be modeled calculating robot to map the route of each point, planning is movably walking route；
Step 3: central controller assigns instruction to MCU, move to appointed place, robot moving process constantly gathers data by 3D photographic head, carry out the identification of environmental objects, the data of capturing and coding device and acceleration transducer are uploaded to move distance calculating and location in central processing unit by MCU in real time simultaneously, and draw out a Real-time and Dynamic map among whole scan map again；
Step 4: central processing unit and MCU data interaction, obtain sensor and encoder feedback data, allow the robot to move among the environment of a dynamic change, data in conjunction with photographic head Yu sensor, adjusting two-wheel motor actuating speed, the track route revising planning avoids run into barrier；
Step 5: finally in the middle of dynamic map scanning runs, mobile robot, along the route cut-through thing of new planning, arrives at.Equipment is by removing original path planning and barrier afterwards, re-starts scanning, generates new map and route planning.
The beneficial effects of the present invention is: the present invention uses 3D photographic head as data acquisition front, RGB photographic head in the middle of coordinating carries out environmental objects identification, mutually revise with the data of infrared sensor collection, integration technology by encoder Yu acceleration transducer, environmental map is drawn in conjunction with SLAM algorithm, design the navigator fix of a set of mobile robot, range finding, path planning scheme, the present invention need not destroy the structure of original environment and walking is flexible, there is three dimensional depth vision, have and carry out barrier material identification function, there is not missing inspection and the false phenomenon of barrier.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is robot localization process flow schematic diagram.
Fig. 3 is that robot planning is movably walking route map.
Tu4Shi robot is movably walking and runs into the signal state diagram of barrier.
Tu5Shi robot programme path figure again.
Tu6Shi robot generates new map and route planning.
Detailed description of the invention
nullRefer to shown in Fig. 1-6，The present invention moves robot 3D navigation positioning system about one，Including robot，Described robot front end is provided with image capture module，It is provided with central processing unit in described robot、MUC module、Image modification module、Path adjusting module and robot ambulation mobile module，Described central processing unit is connected with image capture module，Described central processing unit and MUC connect alternately，Described MUC respectively with image modification module、Path adjusting module and robot ambulation mobile module connect，Wherein，Robot gathers data by image capture module and transmits to central processing unit and carry out the identification of environmental objects，MCU uploads to move distance calculating in central processing unit and position and plan track route by image modification module collection data simultaneously，The track route of described path adjusting module correction planning data transmission to MUC，MUC controls robot ambulation mobile module and avoids run into barrier.
Preferably, described image capture module is 3D photographic head.
Preferably, described image capture module uses laser radar to carry out environmental data scanning.
Preferably, described image modification module includes that RGB photographic head and infrared sensor, described RGB photographic head and infrared sensor are connected with MUC input respectively.
Preferably, described path adjusting module includes that encoder and acceleration transducer, described encoder and acceleration transducer are connected with MUC input respectively.
Preferably, described robot ambulation mobile module includes two-wheel motor and is controlled the walking unit of walking by two-wheel motor.
The operation principle of the present invention: the environmental data in 3D camera collection robot front also transmits the data collected to central processing unit, RGB photographic head carries out environmental objects identification and the environmental objects identification data after identifying is transmitted to central processing unit, now central processing unit combines RGB photographic head and mutually revises the data of environmental objects identification data with infrared sensor collection, central processing unit moves distance calculate and position and plan track route, if 3D camera collection has barrier to front in walking process, pass through encoder, the track route of the path adjusting module correction planning described in acceleration transducer also feeds back to MUC, central processing unit and MCU data interaction data also calculate the navigator fix of mobile robot, range finding, path planning route.
The navigation locating method of robot 3D navigation positioning system is moved in a kind of application, comprises the steps:
Step one: robot starts, by the 3D camera collection ambient data of robot front end, sends data to be analyzed processing in central processing unit, draws out surrounding map by SLAM algorithm；
Step 2: mapping complete after central processing unit be modeled calculating robot to map the route of each point, planning is movably walking route；
Step 3: central controller assigns instruction to MCU, move to appointed place, robot moving process constantly gathers data by 3D photographic head, carry out the identification of environmental objects, the data of capturing and coding device and acceleration transducer are uploaded to move distance calculating and location in central processing unit by MCU in real time simultaneously, and draw out a Real-time and Dynamic map among whole scan map again；
Step 4: central processing unit and MCU data interaction, obtain sensor and encoder feedback data, allow the robot to move among the environment of a dynamic change, data in conjunction with photographic head Yu sensor, adjusting two-wheel motor actuating speed, the track route revising planning avoids run into barrier；
Step 5: finally in the middle of dynamic map scanning runs, mobile robot, along the route cut-through thing of new planning, arrives at.Equipment is by removing original path planning and barrier afterwards, re-starts scanning, generates new map and route planning.
The beneficial effects of the present invention is: the present invention uses 3D photographic head as data acquisition front, RGB photographic head in the middle of coordinating carries out environmental objects identification, mutually revise with the data of infrared sensor collection, integration technology by encoder Yu acceleration transducer, environmental map is drawn in conjunction with SLAM algorithm, design the navigator fix of a set of mobile robot, range finding, path planning scheme, the present invention need not destroy the structure of original environment and walking is flexible, there is three dimensional depth vision, have and carry out barrier material identification function, there is not missing inspection and the false phenomenon of barrier.
Embodiment of above is only to be described the preferred embodiment of the present invention; not the scope of the present invention is defined; on the premise of designing spirit without departing from the present invention; various deformation that technical scheme is made by this area ordinary skill technical staff and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (7)
- null1. a mobile robot 3D navigation positioning system，Including robot，It is characterized in that: described robot front end is provided with image capture module，It is provided with central processing unit in described robot、MUC module、Image modification module、Path adjusting module and robot ambulation mobile module，Described central processing unit is connected with image capture module，Described central processing unit and MUC connect alternately，Described MUC respectively with image modification module、Path adjusting module and robot ambulation mobile module connect，Wherein，Robot gathers data by image capture module and transmits to central processing unit and carry out the identification of environmental objects，MCU uploads to move distance calculating in central processing unit and position and plan track route by image modification module collection data simultaneously，The track route of described path adjusting module correction planning data transmission to MUC，MUC controls robot ambulation mobile module and avoids run into barrier.
- A kind of mobile robot the most according to claim 1 3D navigation positioning system, it is characterised in that: described image capture module is 3D photographic head.
- A kind of mobile robot the most according to claim 1 3D navigation positioning system, it is characterised in that: described image capture module uses laser radar to carry out environmental data scanning.
- A kind of mobile robot the most according to claim 1 3D navigation positioning system, it is characterised in that: described image modification module includes that RGB photographic head and infrared sensor, described RGB photographic head and infrared sensor are connected with MUC input respectively.
- A kind of mobile robot the most according to claim 1 3D navigation positioning system, it is characterised in that: described path adjusting module includes that encoder and acceleration transducer, described encoder and acceleration transducer are connected with MUC input respectively.
- A kind of mobile robot the most according to claim 1 3D navigation positioning system, it is characterised in that: described robot ambulation mobile module includes two-wheel motor and is controlled the walking unit of walking by two-wheel motor.
- 7. the navigation locating method applying mobile robot according to claim 1 3D navigation positioning system, it is characterised in that: comprise the steps:Step one: robot starts, by the 3D camera collection ambient data of robot front end, sends data to be analyzed processing in central processing unit, draws out surrounding map by SLAM algorithm；Step 2: mapping complete after central processing unit be modeled calculating robot to map the route of each point, planning is movably walking route；Step 3: central controller assigns instruction to MCU, move to appointed place, robot moving process constantly gathers data by 3D photographic head, carry out the identification of environmental objects, the data of capturing and coding device and acceleration transducer are uploaded to move distance calculating and location in central processing unit by MCU in real time simultaneously, and draw out a Real-time and Dynamic map among whole scan map again；Step 4: central processing unit and MCU data interaction, obtain sensor and encoder feedback data, allow the robot to move among the environment of a dynamic change, data in conjunction with photographic head Yu sensor, adjusting two-wheel motor actuating speed, the track route revising planning avoids run into barrier；Step 5: finally in the middle of dynamic map scanning runs, mobile robot, along the route cut-through thing of new planning, arrives at, and equipment is by removing original path planning and barrier afterwards, re-starts scanning, generates new map and route planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610549090.9A CN106020201B (en) | 2016-07-13 | 2016-07-13 | Mobile robot 3D navigation positioning system and navigation locating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610549090.9A CN106020201B (en) | 2016-07-13 | 2016-07-13 | Mobile robot 3D navigation positioning system and navigation locating method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106020201A true CN106020201A (en) | 2016-10-12 |
| CN106020201B CN106020201B (en) | 2019-02-01 |
Family
ID=57117637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610549090.9A Active CN106020201B (en) | 2016-07-13 | 2016-07-13 | Mobile robot 3D navigation positioning system and navigation locating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106020201B (en) |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767750A (en) * | 2016-11-18 | 2017-05-31 | 北京光年无限科技有限公司 | A kind of air navigation aid and system for intelligent robot |
| CN107024932A (en) * | 2017-03-01 | 2017-08-08 | 上海师范大学 | The control method of intelligent four-wheel drive serving trolley |
| CN107272711A (en) * | 2017-08-15 | 2017-10-20 | 胡高鹏 | A kind of robot with 3D scan functions |
| CN107390686A (en) * | 2017-07-17 | 2017-11-24 | 深圳拓邦股份有限公司 | A kind of grass-removing robot control method and automatically control mowing system |
| CN107414624A (en) * | 2017-08-28 | 2017-12-01 | 东营小宇研磨有限公司 | Automate the concrete polished system of terrace robot |
| CN108319265A (en) * | 2017-12-21 | 2018-07-24 | 山西迪迈沃科光电工业有限公司 | The control system and method for a kind of ground running robot for electric power computer room inspection |
| WO2018148878A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Smart robot capable of adaptively adjusting visual field, and control method therefor |
| CN108459596A (en) * | 2017-06-30 | 2018-08-28 | 炬大科技有限公司 | A kind of method in mobile electronic device and the mobile electronic device |
| CN108460801A (en) * | 2017-06-12 | 2018-08-28 | 炬大科技有限公司 | A kind of system and method for reaching indoor task object location determination by image recognition mode |
| CN108634874A (en) * | 2018-05-11 | 2018-10-12 | 南京华捷艾米软件科技有限公司 | Sweeping robot and its cleaning method |
| CN108733039A (en) * | 2017-04-18 | 2018-11-02 | 广东工业大学 | The method and apparatus of navigator fix in a kind of robot chamber |
| CN108762255A (en) * | 2018-05-03 | 2018-11-06 | 南京理工大学 | A kind of indoor intelligent mobile robot and control method |
| CN108873914A (en) * | 2018-09-21 | 2018-11-23 | 长安大学 | A kind of robot autonomous navigation system and method based on depth image data |
| CN108958250A (en) * | 2018-07-13 | 2018-12-07 | 华南理工大学 | Multisensor mobile platform and navigation and barrier-avoiding method based on known map |
| CN109015643A (en) * | 2018-08-17 | 2018-12-18 | 徐润秋 | A kind of walking robot walking route control method |
| CN109596120A (en) * | 2018-12-25 | 2019-04-09 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of combined positioning and navigating sensing system |
| CN109843139A (en) * | 2016-11-02 | 2019-06-04 | 东芝生活电器株式会社 | Electric dust collector |
| WO2019128496A1 (en) * | 2017-12-29 | 2019-07-04 | 北京三快在线科技有限公司 | Device motion control |
| CN110025258A (en) * | 2017-12-20 | 2019-07-19 | 东芝生活电器株式会社 | From principal mode electric dust collector |
| CN110088703A (en) * | 2016-12-21 | 2019-08-02 | 德国福维克控股公司 | The method that navigation and self poisoning are carried out to the processing equipment independently advanced |
| CN110325938A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust collector |
| CN112034861A (en) * | 2020-09-15 | 2020-12-04 | 航天科工智能机器人有限责任公司 | Bionic autonomous robot autonomous obstacle avoidance system and obstacle avoidance method thereof |
| CN112113307A (en) * | 2020-09-17 | 2020-12-22 | 丽水市知源科技有限公司 | Movable air purification system |
| CN112656402A (en) * | 2020-11-30 | 2021-04-16 | 重庆优乃特医疗器械有限责任公司 | Acquisition robot linkage control system applied to 3D posture detection and analysis |
| CN113324543A (en) * | 2021-01-28 | 2021-08-31 | 山东硅步机器人技术有限公司 | Visual navigation routing inspection and obstacle avoidance method for inspection robot |
| CN110946514B (en) * | 2018-09-27 | 2021-10-15 | 广东美的生活电器制造有限公司 | Monitoring method and monitoring device applied to movable cleaning equipment |
| CN113712473A (en) * | 2021-07-28 | 2021-11-30 | 深圳甲壳虫智能有限公司 | Height calibration method and device and robot |
| CN113749562A (en) * | 2021-08-13 | 2021-12-07 | 珠海格力电器股份有限公司 | Sweeping robot and control method, device, equipment and storage medium thereof |
| CN115880673A (en) * | 2023-02-22 | 2023-03-31 | 西南石油大学 | Obstacle avoidance method and system based on computer vision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100094460A1 (en) * | 2008-10-09 | 2010-04-15 | Samsung Electronics Co., Ltd. | Method and apparatus for simultaneous localization and mapping of robot |
| CN102895092A (en) * | 2011-12-13 | 2013-01-30 | 冷春涛 | Multi-sensor integration based three-dimensional environment identifying system for walker aid robot |
| CN104067145A (en) * | 2014-05-26 | 2014-09-24 | 中国科学院自动化研究所 | Pruning robot system |
| US20140320593A1 (en) * | 2013-04-30 | 2014-10-30 | Qualcomm Incorporated | Monocular visual slam with general and panorama camera movements |
| CN205219101U (en) * | 2015-10-27 | 2016-05-11 | 众德迪克科技（北京）有限公司 | Service robot of family |
| CN105607635A (en) * | 2016-01-05 | 2016-05-25 | 东莞市松迪智能机器人科技有限公司 | Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle |
-
2016
- 2016-07-13 CN CN201610549090.9A patent/CN106020201B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100094460A1 (en) * | 2008-10-09 | 2010-04-15 | Samsung Electronics Co., Ltd. | Method and apparatus for simultaneous localization and mapping of robot |
| CN102895092A (en) * | 2011-12-13 | 2013-01-30 | 冷春涛 | Multi-sensor integration based three-dimensional environment identifying system for walker aid robot |
| US20140320593A1 (en) * | 2013-04-30 | 2014-10-30 | Qualcomm Incorporated | Monocular visual slam with general and panorama camera movements |
| CN104067145A (en) * | 2014-05-26 | 2014-09-24 | 中国科学院自动化研究所 | Pruning robot system |
| CN205219101U (en) * | 2015-10-27 | 2016-05-11 | 众德迪克科技（北京）有限公司 | Service robot of family |
| CN105607635A (en) * | 2016-01-05 | 2016-05-25 | 东莞市松迪智能机器人科技有限公司 | Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 姜君等: "《物流技术与设备运用》", 31 July 2015 * |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11119484B2 (en) | 2016-11-02 | 2021-09-14 | Toshiba Lifestyle Products & Services Corporation | Vacuum cleaner and travel control method thereof |
| CN109843139A (en) * | 2016-11-02 | 2019-06-04 | 东芝生活电器株式会社 | Electric dust collector |
| CN106767750A (en) * | 2016-11-18 | 2017-05-31 | 北京光年无限科技有限公司 | A kind of air navigation aid and system for intelligent robot |
| CN110088703A (en) * | 2016-12-21 | 2019-08-02 | 德国福维克控股公司 | The method that navigation and self poisoning are carried out to the processing equipment independently advanced |
| WO2018148878A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Smart robot capable of adaptively adjusting visual field, and control method therefor |
| CN107024932A (en) * | 2017-03-01 | 2017-08-08 | 上海师范大学 | The control method of intelligent four-wheel drive serving trolley |
| CN108733039A (en) * | 2017-04-18 | 2018-11-02 | 广东工业大学 | The method and apparatus of navigator fix in a kind of robot chamber |
| CN110325938A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust collector |
| CN108460801A (en) * | 2017-06-12 | 2018-08-28 | 炬大科技有限公司 | A kind of system and method for reaching indoor task object location determination by image recognition mode |
| CN108459596A (en) * | 2017-06-30 | 2018-08-28 | 炬大科技有限公司 | A kind of method in mobile electronic device and the mobile electronic device |
| CN107390686A (en) * | 2017-07-17 | 2017-11-24 | 深圳拓邦股份有限公司 | A kind of grass-removing robot control method and automatically control mowing system |
| CN107272711A (en) * | 2017-08-15 | 2017-10-20 | 胡高鹏 | A kind of robot with 3D scan functions |
| CN107414624A (en) * | 2017-08-28 | 2017-12-01 | 东营小宇研磨有限公司 | Automate the concrete polished system of terrace robot |
| CN110025258A (en) * | 2017-12-20 | 2019-07-19 | 东芝生活电器株式会社 | From principal mode electric dust collector |
| CN108319265A (en) * | 2017-12-21 | 2018-07-24 | 山西迪迈沃科光电工业有限公司 | The control system and method for a kind of ground running robot for electric power computer room inspection |
| WO2019128496A1 (en) * | 2017-12-29 | 2019-07-04 | 北京三快在线科技有限公司 | Device motion control |
| CN108762255A (en) * | 2018-05-03 | 2018-11-06 | 南京理工大学 | A kind of indoor intelligent mobile robot and control method |
| CN108634874A (en) * | 2018-05-11 | 2018-10-12 | 南京华捷艾米软件科技有限公司 | Sweeping robot and its cleaning method |
| CN108958250A (en) * | 2018-07-13 | 2018-12-07 | 华南理工大学 | Multisensor mobile platform and navigation and barrier-avoiding method based on known map |
| CN109015643A (en) * | 2018-08-17 | 2018-12-18 | 徐润秋 | A kind of walking robot walking route control method |
| CN108873914B (en) * | 2018-09-21 | 2021-07-06 | 长安大学 | Robot autonomous navigation system and method based on depth image data |
| CN108873914A (en) * | 2018-09-21 | 2018-11-23 | 长安大学 | A kind of robot autonomous navigation system and method based on depth image data |
| CN110946514B (en) * | 2018-09-27 | 2021-10-15 | 广东美的生活电器制造有限公司 | Monitoring method and monitoring device applied to movable cleaning equipment |
| CN109596120A (en) * | 2018-12-25 | 2019-04-09 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of combined positioning and navigating sensing system |
| CN112034861A (en) * | 2020-09-15 | 2020-12-04 | 航天科工智能机器人有限责任公司 | Bionic autonomous robot autonomous obstacle avoidance system and obstacle avoidance method thereof |
| CN112113307A (en) * | 2020-09-17 | 2020-12-22 | 丽水市知源科技有限公司 | Movable air purification system |
| CN112656402A (en) * | 2020-11-30 | 2021-04-16 | 重庆优乃特医疗器械有限责任公司 | Acquisition robot linkage control system applied to 3D posture detection and analysis |
| CN112656402B (en) * | 2020-11-30 | 2023-01-13 | 重庆优乃特医疗器械有限责任公司 | Acquisition robot linkage control system applied to 3D posture detection and analysis |
| CN113324543A (en) * | 2021-01-28 | 2021-08-31 | 山东硅步机器人技术有限公司 | Visual navigation routing inspection and obstacle avoidance method for inspection robot |
| CN113712473A (en) * | 2021-07-28 | 2021-11-30 | 深圳甲壳虫智能有限公司 | Height calibration method and device and robot |
| CN113749562A (en) * | 2021-08-13 | 2021-12-07 | 珠海格力电器股份有限公司 | Sweeping robot and control method, device, equipment and storage medium thereof |
| CN113749562B (en) * | 2021-08-13 | 2022-08-16 | 珠海格力电器股份有限公司 | Sweeping robot and control method, device, equipment and storage medium thereof |
| CN115880673A (en) * | 2023-02-22 | 2023-03-31 | 西南石油大学 | Obstacle avoidance method and system based on computer vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106020201B (en) | 2019-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106020201A (en) | Mobile robot 3D navigation and positioning system and navigation and positioning method | |
| Asadi et al. | Vision-based integrated mobile robotic system for real-time applications in construction | |
| CA2950791C (en) | Binocular visual navigation system and method based on power robot | |
| CN110147106A (en) | Has the intelligent Mobile Service robot of laser and vision fusion obstacle avoidance system | |
| CN103400392B (en) | Binocular vision navigation system and method based on Intelligent Mobile Robot | |
| CN205905026U (en) | Robot system based on two mesh stereovisions | |
| CN103413313B (en) | The binocular vision navigation system of electrically-based robot and method | |
| CN112634318B (en) | Teleoperation system and method for underwater maintenance robot | |
| CN106142092A (en) | A kind of method robot being carried out teaching based on stereovision technique | |
| CN107193011A (en) | A kind of method for being used to quickly calculate car speed in automatic driving car area-of-interest | |
| CN110488805A (en) | A kind of unmanned vehicle obstacle avoidance system and method based on 3D stereoscopic vision | |
| CN108170166A (en) | The follow-up control method and its intelligent apparatus of robot | |
| EP3839817A2 (en) | Generating and/or using training instances that include previously captured robot vision data and drivability labels | |
| CN104898675A (en) | Robot intelligent navigation control method | |
| Fauadi et al. | Intelligent vision-based navigation system for mobile robot: A technological review | |
| CN107749060A (en) | Machine vision equipment and based on flying time technology three-dimensional information gathering algorithm | |
| Yin et al. | Research on the method of step feature extraction for EOD robot based on 2D laser radar | |
| CN106774324B (en) | Two cameras three-dimensional identification patrol robot | |
| KR101319526B1 (en) | Method for providing location information of target using mobile robot | |
| Grehl et al. | Towards virtualization of underground mines using mobile robots–from 3D scans to virtual mines | |
| KR100906991B1 (en) | Method for detecting invisible obstacle of robot | |
| Hong et al. | Real-time visual-based localization for mobile robot using structured-view deep learning | |
| Biber et al. | 3d modeling of indoor environments for a robotic security guard | |
| Poomarin et al. | Automatic docking with obstacle avoidance of a differential wheel mobile robot | |
| Ortigosa et al. | Fuzzy free path detection from disparity maps by using least-squares fitting to a plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |