CN106054889B - 一种机器人自主避障方法和装置 - Google Patents
一种机器人自主避障方法和装置 Download PDFInfo
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- CN106054889B CN106054889B CN201610486856.3A CN201610486856A CN106054889B CN 106054889 B CN106054889 B CN 106054889B CN 201610486856 A CN201610486856 A CN 201610486856A CN 106054889 B CN106054889 B CN 106054889B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000004888 barrier function Effects 0.000 claims abstract description 138
- 238000001514 detection method Methods 0.000 claims description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 6
- 210000002683 foot Anatomy 0.000 claims description 6
- 210000003127 knee Anatomy 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 210000001699 lower leg Anatomy 0.000 claims description 6
- 210000004394 hip joint Anatomy 0.000 claims description 4
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000008569 process Effects 0.000 description 5
- 238000010200 validation analysis Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000008186 active pharmaceutical agent Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 238000005406 washing 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39091—Avoid collision with moving obstacles
-
- 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)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
Description
检测层次 | 阈值范围 |
安全层 | >1.2m |
障碍物疑似层 | 0.9m-1.2m |
障碍物确认层 | 0.6m-0.9m |
危险层 | 0.3m-0.6m |
Claims (8)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610486856.3A CN106054889B (zh) | 2016-06-28 | 2016-06-28 | 一种机器人自主避障方法和装置 |
US15/239,868 US20170368685A1 (en) | 2016-06-28 | 2016-08-18 | Method and device for automatic obstacle avoidance of robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610486856.3A CN106054889B (zh) | 2016-06-28 | 2016-06-28 | 一种机器人自主避障方法和装置 |
Publications (2)
Publication Number | Publication Date |
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CN106054889A CN106054889A (zh) | 2016-10-26 |
CN106054889B true CN106054889B (zh) | 2019-05-10 |
Family
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CN201610486856.3A Active CN106054889B (zh) | 2016-06-28 | 2016-06-28 | 一种机器人自主避障方法和装置 |
Country Status (2)
Country | Link |
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US (1) | US20170368685A1 (zh) |
CN (1) | CN106054889B (zh) |
Families Citing this family (35)
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CN106325285A (zh) * | 2016-11-05 | 2017-01-11 | 杭州畅动智能科技有限公司 | 一种基于水下避障装置的控制方法 |
CN106774363B (zh) * | 2016-12-02 | 2020-08-21 | 河北省自动化研究所 | 无人机飞行控制系统和方法 |
CN106647761A (zh) * | 2016-12-30 | 2017-05-10 | 上海庆科信息技术有限公司 | 一种自移动扫地机及其控制方法 |
CN106965198B (zh) * | 2017-03-30 | 2019-07-12 | 上海木木聚枞机器人科技有限公司 | 机器人控制方法和装置 |
CN107184156A (zh) * | 2017-07-25 | 2017-09-22 | 中央民族大学 | 一种智能扫地机器人 |
CN107179083A (zh) * | 2017-07-25 | 2017-09-19 | 中央民族大学 | 智能机器人路径规划方法以及系统 |
CN107765689B (zh) * | 2017-09-29 | 2018-10-12 | 南京昱晟机器人科技有限公司 | 一种机器人及其避障方法 |
CN107598927A (zh) * | 2017-10-20 | 2018-01-19 | 苏州瑞得恩光能科技有限公司 | 太阳能面板清扫机器人直行判定装置及其判定方法 |
CN107536565A (zh) * | 2017-10-24 | 2018-01-05 | 湖南格兰博智能科技有限责任公司 | 自移动清洁机器人及其控制方法 |
CN107831766A (zh) * | 2017-10-30 | 2018-03-23 | 北京奇虎科技有限公司 | 机器人的碰撞处理方法、装置及机器人 |
CN107717996B (zh) * | 2017-11-14 | 2018-08-24 | 北京镁伽机器人科技有限公司 | 具有测距停止功能的多关节机器人和测距停止方法 |
CN107861130A (zh) * | 2017-11-28 | 2018-03-30 | 深圳市优必选科技有限公司 | 一种足部探障装置及机器人 |
CN108268041B (zh) * | 2018-01-23 | 2021-05-11 | 南京阿凡达机器人科技有限公司 | 一种用于机器人的障碍物检测方法及系统 |
CN108628309B (zh) * | 2018-04-26 | 2021-01-12 | 广东容祺智能科技有限公司 | 一种复杂地形的自动寻址方法 |
CN110919642A (zh) * | 2018-09-19 | 2020-03-27 | 中国科学院深圳先进技术研究院 | 超声波避障装置、机器人系统和控制机器人避障的方法 |
CN110941258A (zh) * | 2018-09-21 | 2020-03-31 | 日本电产株式会社 | 移动体的控制方法及移动体的控制系统 |
CN111208811B (zh) * | 2018-11-22 | 2024-06-21 | 北京奇虎科技有限公司 | 扫地机器人的窄缝脱困方法、装置、设备及可读存储介质 |
CN109582041A (zh) * | 2018-12-14 | 2019-04-05 | 珠海格力电器股份有限公司 | 一种可移动风扇及其目标跟随控制方法、装置和存储介质 |
CN109324626A (zh) * | 2018-12-18 | 2019-02-12 | 中新智擎科技有限公司 | 基于红外测距的机器人及其近距离避障方法、存储介质 |
CN109557923B (zh) * | 2018-12-24 | 2021-11-02 | 湖北工业大学 | 智能车自动避障装置及控制方法 |
CN109839936A (zh) * | 2019-03-04 | 2019-06-04 | 中新智擎科技有限公司 | 一种大环境下的自动导航方法、机器人及存储介质 |
CN109910009A (zh) * | 2019-03-13 | 2019-06-21 | 浙江华消科技有限公司 | 消防侦察机器人的路径生成方法、装置、系统和机器人 |
CN110047366A (zh) * | 2019-03-26 | 2019-07-23 | 杭州合学教育科技有限公司 | 汽车教具避开障碍物方法及装置、可读存储介质和终端 |
CN110609550B (zh) * | 2019-09-11 | 2021-02-23 | 珠海市一微半导体有限公司 | 一种机器人防止碰撞充电座的方法 |
CN111136648B (zh) * | 2019-12-27 | 2021-08-27 | 深圳市优必选科技股份有限公司 | 一种移动机器人的定位方法、定位装置及移动机器人 |
CN111358370A (zh) * | 2020-03-18 | 2020-07-03 | 五邑大学 | 一种扫地机器人及其行走方法 |
CN111300426B (zh) * | 2020-03-19 | 2022-05-31 | 深圳国信泰富科技有限公司 | 一种高智能人型机器人感测头的控制系统 |
CN111487963A (zh) * | 2020-03-30 | 2020-08-04 | 北京理工大学 | 一种机器人自主避障方法 |
CN111568322B (zh) * | 2020-04-15 | 2021-12-24 | 长沙中联重科环境产业有限公司 | 一种防疫消毒清洁机器人避障方法、装置及设备 |
CN112650245A (zh) * | 2020-12-22 | 2021-04-13 | 江苏艾雨文承养老机器人有限公司 | 跟随机器人、跟随系统及其跟随方法 |
US11797013B2 (en) * | 2020-12-25 | 2023-10-24 | Ubtech North America Research And Development Center Corp | Collision avoidance method and mobile machine using the same |
CN114371693A (zh) * | 2021-11-26 | 2022-04-19 | 江苏金晓电子信息股份有限公司 | 基于多传感器数据融合的多场景下的交通巡航器控制方法 |
CN114233063B (zh) * | 2021-12-07 | 2023-05-05 | 深圳市思傲拓科技有限公司 | 一种泳池清洁机器人及转向方法 |
CN114415662B (zh) * | 2021-12-15 | 2023-10-17 | 广州市威控机器人有限公司 | 一种智能机器人避障方法及装置 |
CN114265416B (zh) * | 2022-02-28 | 2022-06-28 | 季华实验室 | 一种agv小车控制方法、装置、电子设备及存储介质 |
Citations (3)
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CN204009577U (zh) * | 2014-04-14 | 2014-12-10 | 南京师范大学 | 智能小车复合式避障系统 |
CN105487536A (zh) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | 一种移动机器人的低成本自主避障方法 |
CN105629970A (zh) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | 一种基于超声波的机器人定位避障方法 |
Family Cites Families (2)
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US9436185B2 (en) * | 2010-12-30 | 2016-09-06 | Irobot Corporation | Coverage robot navigating |
JP6109616B2 (ja) * | 2013-03-25 | 2017-04-05 | 株式会社日立産機システム | 自動搬送車 |
-
2016
- 2016-06-28 CN CN201610486856.3A patent/CN106054889B/zh active Active
- 2016-08-18 US US15/239,868 patent/US20170368685A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN204009577U (zh) * | 2014-04-14 | 2014-12-10 | 南京师范大学 | 智能小车复合式避障系统 |
CN105487536A (zh) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | 一种移动机器人的低成本自主避障方法 |
CN105629970A (zh) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | 一种基于超声波的机器人定位避障方法 |
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US20170368685A1 (en) | 2017-12-28 |
CN106054889A (zh) | 2016-10-26 |
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