CN106155056B - 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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- CN106155056B CN106155056B CN201610595278.7A CN201610595278A CN106155056B CN 106155056 B CN106155056 B CN 106155056B CN 201610595278 A CN201610595278 A CN 201610595278A CN 106155056 B CN106155056 B CN 106155056B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000004888 barrier function Effects 0.000 claims abstract description 59
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 2
- 230000008569 process Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000003252 repetitive effect Effects 0.000 abstract description 3
- 238000010408 sweeping Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 241000755666 Neato Species 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 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
- 230000007306 turnover Effects 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
- G05D1/0212—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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
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CN201610595278.7A CN106155056B (zh) | 2016-07-26 | 2016-07-26 | 自移动机器人行走方法与装置 |
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CN201610595278.7A CN106155056B (zh) | 2016-07-26 | 2016-07-26 | 自移动机器人行走方法与装置 |
Publications (2)
Publication Number | Publication Date |
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CN106155056A CN106155056A (zh) | 2016-11-23 |
CN106155056B true CN106155056B (zh) | 2019-09-03 |
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CN201610595278.7A Active CN106155056B (zh) | 2016-07-26 | 2016-07-26 | 自移动机器人行走方法与装置 |
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CN (1) | CN106155056B (zh) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
CN109874487B (zh) | 2016-06-30 | 2022-11-04 | 创科(澳门离岸商业服务)有限公司 | 一种自主式割草机及其导航系统 |
CN106959695B (zh) | 2017-04-24 | 2019-08-02 | 广东宝乐机器人股份有限公司 | 移动机器人在工作区域内的角度修正方法及移动机器人 |
CN107272699A (zh) * | 2017-07-25 | 2017-10-20 | 中央民族大学 | 智能机器人路径规划方法以及系统 |
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 |
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 |
CN108415421A (zh) * | 2018-01-26 | 2018-08-17 | 广东宝乐机器人股份有限公司 | 一种提高移动机器人边角覆盖率的方法 |
CN108646733B (zh) * | 2018-04-27 | 2021-08-10 | 杭州艾豆智能科技有限公司 | 一种自动矫正的移动机器人的矫正方法 |
CN108614558B (zh) * | 2018-05-31 | 2020-12-25 | 北京智行者科技有限公司 | 一种清扫轨迹规划方法 |
CN109240284B (zh) * | 2018-08-10 | 2021-06-22 | 江苏大学 | 一种无人驾驶农机的自主路径规划方法及装置 |
CN111347415B (zh) * | 2018-12-21 | 2021-08-13 | 广东宝乐机器人股份有限公司 | 擦窗机器人移动控制方法、移动控制系统及擦窗机器人 |
CN110448241B (zh) * | 2019-07-18 | 2021-05-18 | 华南师范大学 | 机器人被困检测及脱困方法 |
CN111290388B (zh) * | 2020-02-25 | 2022-05-13 | 苏州科瓴精密机械科技有限公司 | 路径追踪方法、系统,机器人及可读存储介质 |
CN113934204A (zh) * | 2020-07-13 | 2022-01-14 | 科沃斯商用机器人有限公司 | 路径规划方法、自主行进设备及清洁机器人 |
CN114779784A (zh) * | 2022-04-28 | 2022-07-22 | 格力博(江苏)股份有限公司 | 机器人工具的控制方法及机器人工具 |
Citations (4)
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CN102138769A (zh) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | 清洁机器人及其清扫方法 |
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 |
CN104977926A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人局部避障行走方法 |
CN104972462A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人避障行走方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008242908A (ja) * | 2007-03-28 | 2008-10-09 | Matsushita Electric Ind Co Ltd | 自律走行装置およびこの装置を機能させるためのプログラム |
KR20120069924A (ko) * | 2010-12-21 | 2012-06-29 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
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2016
- 2016-07-26 CN CN201610595278.7A patent/CN106155056B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102138769A (zh) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | 清洁机器人及其清扫方法 |
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 |
CN104977926A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人局部避障行走方法 |
CN104972462A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人避障行走方法 |
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CN106155056A (zh) | 2016-11-23 |
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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: 518000, two floor, second industrial zone, Ma'anshan, Shenzhen, Baoan District, Guangdong 12, China Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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Effective date of registration: 20200923 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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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Self moving robot walking method and device Effective date of registration: 20211223 Granted publication date: 20190903 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2021440000397 |
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Effective date of registration: 20230320 Granted publication date: 20190903 |