CN106020207B - 自移动机器人行走方法与装置 - Google Patents
自移动机器人行走方法与装置 Download PDFInfo
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- CN106020207B CN106020207B CN201610594672.9A CN201610594672A CN106020207B CN 106020207 B CN106020207 B CN 106020207B CN 201610594672 A CN201610594672 A CN 201610594672A CN 106020207 B CN106020207 B CN 106020207B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000004888 barrier function Effects 0.000 claims abstract description 82
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 5
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000003252 repetitive effect Effects 0.000 abstract description 3
- 238000012217 deletion Methods 0.000 abstract description 2
- 230000037430 deletion Effects 0.000 abstract description 2
- 238000010408 sweeping Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 241000755666 Neato Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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- 230000013011 mating Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Abstract
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Priority Applications (1)
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CN201610594672.9A CN106020207B (zh) | 2016-07-26 | 2016-07-26 | 自移动机器人行走方法与装置 |
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CN201610594672.9A CN106020207B (zh) | 2016-07-26 | 2016-07-26 | 自移动机器人行走方法与装置 |
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CN106020207A CN106020207A (zh) | 2016-10-12 |
CN106020207B true CN106020207B (zh) | 2019-04-16 |
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CN201610594672.9A Active CN106020207B (zh) | 2016-07-26 | 2016-07-26 | 自移动机器人行走方法与装置 |
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Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3508049B1 (en) | 2016-06-30 | 2022-08-24 | Techtronic Outdoor Products Technology Limited | An autonomous lawn mower |
US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
CN107957504B (zh) * | 2016-10-18 | 2020-09-22 | 苏州宝时得电动工具有限公司 | 碰撞方向检测方法及其装置 |
CN107340768B (zh) * | 2016-12-29 | 2020-08-28 | 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 |
CN110286674B (zh) * | 2017-04-24 | 2022-08-16 | 广州科语机器人有限公司 | 移动机器人在工作区域内的角度修正方法及移动机器人 |
CN107247457B (zh) * | 2017-06-15 | 2020-06-26 | 惠州市蓝微电子有限公司 | 一种割草机割草重复率算法 |
CN109388093B (zh) * | 2017-08-02 | 2020-09-15 | 苏州珊口智能科技有限公司 | 基于线特征识别的机器人姿态控制方法、系统及机器人 |
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 |
CN107505942B (zh) * | 2017-08-31 | 2020-09-01 | 珠海市一微半导体有限公司 | 一种机器人检测到障碍物的处理方法和芯片 |
CN107577233A (zh) * | 2017-09-09 | 2018-01-12 | 华中农业大学 | 一种应用于大田小区水稻植株参数检测的自动快速定位装置及方法 |
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 |
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 |
CN108628306B (zh) * | 2018-04-10 | 2021-06-25 | 平安科技(深圳)有限公司 | 机器人行走障碍检测方法、装置、计算机设备和存储介质 |
CN108762247B (zh) * | 2018-04-21 | 2021-06-11 | 广东宝乐机器人股份有限公司 | 自移动设备的避障控制方法及自移动设备 |
CN108762246B (zh) * | 2018-04-21 | 2022-10-21 | 广州科语机器人有限公司 | 用于擦窗机器人的障碍判断方法、存储介质及擦窗机器人 |
CN108873912A (zh) * | 2018-08-21 | 2018-11-23 | 深圳乐动机器人有限公司 | 地图管理方法、装置、计算机设备和存储介质 |
CN108983792A (zh) * | 2018-09-10 | 2018-12-11 | 扬州方棱机械有限公司 | 基于测距传感器生成割草机器人虚拟边界的方法 |
WO2021115371A1 (zh) * | 2019-12-13 | 2021-06-17 | 苏州宝时得电动工具有限公司 | 工作地图构建方法、装置、机器人及存储介质 |
CN113552865A (zh) * | 2020-04-17 | 2021-10-26 | 苏州科瓴精密机械科技有限公司 | 遍历方法、系统,机器人及可读存储介质 |
CN112102429A (zh) * | 2020-08-03 | 2020-12-18 | 深圳拓邦股份有限公司 | 一种割草机的建图方法、存储介质以及割草机 |
CN112987755A (zh) * | 2021-04-19 | 2021-06-18 | 浙江欣奕华智能科技有限公司 | 一种扫地机器人的避障方法及装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102138768B (zh) * | 2010-01-28 | 2015-07-08 | 深圳先进技术研究院 | 清洁机器人的定位方法和设备 |
CN202771261U (zh) * | 2012-09-29 | 2013-03-06 | 成都新振科技有限公司 | 一种自主移动式机器人 |
KR101452437B1 (ko) * | 2014-02-14 | 2014-11-04 | 한국기계연구원 | 모바일 매니퓰레이터의 작업대 세팅방법 |
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 |
JP2015223956A (ja) * | 2014-05-28 | 2015-12-14 | 株式会社デンソー | 衝突検知システム |
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Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518104, Shenzhen, Guangdong, Baoan District Province, manhole Road, No. 438, block two or three Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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Effective date of registration: 20200924 Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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Denomination of invention: Self moving robot walking method and device Effective date of registration: 20211223 Granted publication date: 20190416 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2021440000397 |
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