CN106403998B - Violence countermeasure set and method based on IMU - Google Patents
Violence countermeasure set and method based on IMU Download PDFInfo
- Publication number
- CN106403998B CN106403998B CN201610786682.2A CN201610786682A CN106403998B CN 106403998 B CN106403998 B CN 106403998B CN 201610786682 A CN201610786682 A CN 201610786682A CN 106403998 B CN106403998 B CN 106403998B
- Authority
- CN
- China
- Prior art keywords
- imu
- unit
- robot
- odometer
- intelligent vehicle
- 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.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The present invention discloses a kind of violence countermeasure set and method based on IMU.The device includes odometer unit, for calculating the first posture information of robot or intelligent vehicle in pre-rendered map；Laser sensing unit, the first posture information based on odometer unit output matches the barrier that the laser sensing unit detects with barrier in the pre-rendered map, to obtain the accurate posture information of robot or intelligent vehicle in the map；Inertial navigation unit IMU, for calculating the second posture information of robot or intelligent vehicle by inertial navigation algorithm.Described device is corrected the odometer unit or laser sensor of abnormal conditions based on the posture information that IMU is provided and realizes the violence based on IMU and interfere.
Description
Technical field
The present invention relates to navigator fix fields, more specifically, are related to a kind of violence device and method based on IMU.
Background technique
In navigator fix field, the error of odometer unit increases with distance, the mistake when wheel slip, leaving ground
Effect, reliability are low.Laser sensor laser precision under good indoor environment is high, and error is not accumulated, but in adverse circumstances
The lower such as single long corridor precision degradation of environment, it is therefore desirable to which outside provides the local posture information of carrier, then by laser
It is matched.In addition indoor dynamic barrier is also possible to impact laser.
Inertial navigation unit IMU can track and reflect any motion of automobile of carrier, and output is steady, and output frequency is high, entirely
Weather work, not by environmental disturbances, high reliablity can independently carry out independent navigation.But the pose accuracy of IMU dissipates at any time,
It cannot be directly used to the navigation of robot.
It is therefore desirable to propose a kind of violence countermeasure set and method based on IMU, do not changing existing hardware and soft
In the case that part configures, school is carried out to the odometer unit and laser sensor of abnormal conditions according to the posture information that IMU is provided
Just.
The information for being disclosed in background of invention part is merely intended to deepen the reason to general background technique of the invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The invention proposes a kind of violence countermeasure set and method based on IMU.The purpose of the present invention is do not changing
In the case where existing hardware and software configuration, according to the posture information of IMU offer to the odometer unit and laser of abnormal conditions
Sensor is corrected.
According to an aspect of the invention, it is proposed that a kind of violence countermeasure set based on IMU.The apparatus may include:
Odometer unit, laser sensing unit and inertial navigation unit IMU.Wherein, the odometer unit is for calculating robot
Or first posture information of the intelligent vehicle in pre-rendered map；The laser sensing unit is based on the odometer unit
Barrier in the barrier and the pre-rendered map that first posture information of output detects the laser sensing unit
It is matched, to obtain the accurate posture information of robot or intelligent vehicle in the map；The inertial navigation unit IMU
For calculating the second posture information of robot or intelligent vehicle by inertial navigation algorithm.
Violence countermeasure set according to the present invention based on IMU is by following steps to the odometer list under abnormal conditions
Member and laser sensing unit are corrected:
1) IMU, odometer unit, laser sensing unit and the timer of robot or intelligent vehicle are initialized；
2) every the state of the IMU of 1 second robot of detection or intelligent vehicle, odometer unit, laser sensing unit；
3) normal condition when robot or intelligent vehicle movement is defined；
4) abnormal conditions when robot or intelligent vehicle movement are defined；
5) when detecting that robot or intelligent vehicle become abnormal conditions from normal condition, by preceding 1 second odometer unit
Second posture information of the first posture information of output, the accurate posture information of laser sensing unit output and IMU output is protected
Save as baseline mileage meter cell data, reference laser sensing unit data and IMU reference data；
6) after detecting robot or intelligent vehicle and becoming normal condition from abnormal conditions, the reference laser is passed
The result that sense cell data is added with the second pose information change amount that abnormal conditions period IMU is exported is as swashing after correction
Light sensing cell data, and repeat step 5) and 6).
Optionally, normal condition when robot or intelligent vehicle move are as follows: IMU communicates normal, odometer unit communication
Normal and laser sensing unit communication is normal, and IMU is consistent with the angle of variation in odometer unit every 1 second.
Optionally, IMU and the angle of variation in odometer unit every 1 second are unanimously that both every 1 second deviation is no more than 10 °
Optionally, abnormal conditions when robot or intelligent vehicle move are as follows: the data of continuous 2 seconds odometer units output
Middle time variable do not update time variable in the perhaps data of continuous 2 seconds laser sensing units output do not update or IMU with
The every 1 second angle change of odometer unit is inconsistent.
According to another aspect of the invention, it is proposed that a kind of violence interference method based on IMU.This method may include with
Lower step:
1) IMU, odometer unit, laser sensing unit and the timer of robot or intelligent vehicle are initialized；
2) every the state of the IMU of 1 second robot of detection or intelligent vehicle, odometer unit, laser sensing unit；
3) normal condition when robot or intelligent vehicle movement is defined；
4) abnormal conditions when robot or intelligent vehicle movement are defined；
5) when detecting that robot or intelligent vehicle become abnormal conditions from normal condition, by preceding 1 second odometer unit
Second posture information of the first posture information of output, the accurate posture information of laser sensing unit output and IMU output is protected
Save as baseline mileage meter cell data, reference laser sensing unit data and IMU reference data；
6) after detecting robot or intelligent vehicle and becoming normal condition from abnormal conditions, the reference laser is passed
The result that sense cell data is added with the second pose information change amount that abnormal conditions period IMU is exported is as swashing after correction
Light sensing cell data, and repeat step 5) and 6).
Optionally, normal condition when robot or intelligent vehicle move are as follows: IMU communicates normal, odometer unit communication
Normal and laser sensing unit communication is normal, and IMU is consistent with the angle of variation in odometer unit every 1 second.
Optionally, IMU and the angle of variation in odometer unit every 1 second are unanimously that both every 1 second deviation is no more than 10 °
Optionally, abnormal conditions when robot or intelligent vehicle move are as follows: the data of continuous 2 seconds odometer units output
Middle time variable do not update time variable in the perhaps data of continuous 2 seconds laser sensing units output do not update or IMU with
The every 1 second angle change of odometer unit is inconsistent.
The present invention carries out the odometer unit or laser sensor of abnormal conditions by the posture information provided according to IMU
It corrects and realizes the violence interference based on IMU.
Methods and apparatus of the present invention has other characteristics and advantages, these characteristics and advantages are attached from what is be incorporated herein
It will be apparent in figure and subsequent specific embodiment, or will be in the attached drawing and subsequent specific implementation being incorporated herein
It is stated in detail in example, these the drawings and specific embodiments are used together to explain specific principle of the invention.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label is usual
Represent same parts.
Fig. 1 shows the schematic diagram of the violence countermeasure set according to an embodiment of the invention based on IMU.
The flow chart of Fig. 2 shows the according to an embodiment of the invention violence interference method based on IMU.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Embodiment 1
Fig. 1 shows the schematic diagram of the violence countermeasure set according to an embodiment of the invention based on IMU.
In this embodiment, the violence countermeasure set based on IMU may include: odometer unit 101, laser sensor
102 and inertial navigation unit IMU103.
Odometer unit 101 is used to calculate the first pose letter of robot or intelligent vehicle in pre-rendered map
Breath.In the present invention, which can be Two-dimensional Position appearance information, i.e. x, y-coordinate and course angle.The error of odometer unit
Loaded with it robot or intelligent vehicle walking distance and increase.
The first posture information that laser sensor 102 is exported based on the odometer unit by the barrier of detection with it is described
Barrier is matched in pre-rendered map, to obtain the accurate pose letter of robot or intelligent vehicle in the map
Breath.
The posture information that odometer unit is exported be it is relatively rough, laser sensor combine the coarse posture information
And obtain more accurate posture information.
However the accurate matched premise of the barrier in the barrier that is detected of laser sensor and pre-rendered map
Be the error of odometer unit, especially course error in a certain range, otherwise it fails to match for laser, and robot cannot be after
It is continuous to move ahead.And during robot ambulation, it encounters the case where following violence is interfered and easilys lead to robot navigation's failure:
1) odometer unit skids, odometer unit dallies, odometer unit is pressed onto barrier (crossing a ridge), odometer unit
Communication disruption；
2) robot is artificially moved；
3) laser communication is interrupted (when switching map).
Inertial navigation unit IMU103 is used to calculate robot by inertial navigation algorithm or the second pose of intelligent vehicle is believed
Breath, and IMU103 can also export the velocity information of robot or intelligent vehicle.
Angular speed and linear acceleration of the IMU based on Newton classic mechanics measurement carrier, calculate carrier by inertial navigation algorithm
Posture information and speed position information.Not by environmental disturbances, output is steady for its work, and output frequency is high, can be with all weather operations.
But the pose accuracy of IMU dissipates at any time, cannot be directly used to the navigation of robot, needs and odometer unit and laser sensing
Device matches to navigate.
In this embodiment, the violence countermeasure set based on IMU is by following steps to the odometer under abnormal conditions
Unit and laser sensor are corrected.
1) IMU, odometer unit, laser sensor and the timer of robot or intelligent vehicle are initialized.
2) every the state of the IMU of 1 second robot of detection or intelligent vehicle, odometer unit, laser sensor.
3) normal condition when robot or intelligent vehicle movement is defined.
Optionally, by IMU communication, normal, odometer unit communication is normally and laser sensor communicates normally, and IMU
It is consistent with the angle of variation in odometer unit every 1 second to be defined as normal condition.
Optionally, IMU and the angle of variation in odometer unit every 1 second are unanimously that both every 1 second deviation is no more than 10 °.
4) abnormal conditions when robot or intelligent vehicle movement are defined.
Optionally, time variable in continuous 2 seconds odometer cell datas is not updated or continuous 2 seconds laser sensors
In data time variable do not update or odometer unit with the every 1 second angle change of IMU is inconsistent is defined as intelligent robot
Or the abnormal conditions of intelligent vehicle movement.
5) when detecting that robot or intelligent vehicle become abnormal conditions from normal condition, by preceding 1 second odometer unit
Second posture information of the first posture information of output, the accurate posture information of laser sensing unit output and IMU output is protected
Save as baseline mileage meter cell data, reference laser sensing unit data and IMU reference data.
That is, when detect odometer unit communication interrupt perhaps laser sensor communication disruption or odometer unit with
When the every 1 second angle change of IMU is inconsistent, then saves robot or intelligent vehicle is in last 1 second odometer of normal condition
The second pose letter of first posture information of unit output, the accurate posture information of laser sensing unit output and IMU output
Breath is to be used for subsequent aligning step.
6) after detecting robot or intelligent vehicle and becoming normal condition from abnormal conditions, the reference laser is passed
The result that sense cell data is added with the second pose information change amount that abnormal conditions period IMU is exported is as swashing after correction
Light sensing cell data, and repeat step 5) and 6).
That is, when detecting IMU, odometer unit and laser sensor normal communication, and odometer unit and IMU every 1
After the angle of second variation is consistent, current laser sensor data are updated to the reference laser sensing data and exception
The sum of the second pose information change amount of period IMU output.Wherein, the second posture information of abnormal time section IMU output becomes
Change amount is the second posture information that IMU is exported when detecting that robot or intelligent vehicle become normal condition from abnormal conditions
With the difference of the IMU reference data.
Since laser sensor is to obtain machine based on the position coordinates variable of odometer unit output and course angle variable
The accurate pose of device people or intelligent vehicle, therefore can be with laser sensor after odometer unit restores normal communication
It matches and continues to navigate.
The present embodiment by the posture information that is provided according to IMU to the odometer units of abnormal conditions or laser sensor into
Row corrects and realizes the violence interference based on IMU.
Embodiment 2
According to another embodiment of the invention, a kind of violence interference method based on IMU is proposed.This method can be with
The following steps are included:
1) IMU, odometer unit, laser sensing unit and the timer of robot or intelligent vehicle are initialized；
2) every the state of the IMU of 1 second robot of detection or intelligent vehicle, odometer unit, laser sensing unit；
3) normal condition when robot or intelligent vehicle movement is defined；
4) abnormal conditions when robot or intelligent vehicle movement are defined；
5) when detecting that robot or intelligent vehicle become abnormal conditions from normal condition, by preceding 1 second odometer unit
Second posture information of the first posture information of output, the accurate posture information of laser sensing unit output and IMU output is protected
Save as baseline mileage meter cell data, reference laser sensing unit data and IMU reference data；
6) after detecting robot or intelligent vehicle and becoming normal condition from abnormal conditions, the reference laser is passed
The result that sense cell data is added with the second pose information change amount that abnormal conditions period IMU is exported is as swashing after correction
Light sensing cell data, and repeat step 5) and 6).
In one example, normal condition when robot or intelligent vehicle move can be with are as follows: IMU communication is normal, mileage
It counts unit communication normally and laser sensing unit communication is normal, and the angle one of IMU and variation in odometer unit every 1 second
It causes.
In one example, IMU and the angle of variation in odometer unit every 1 second unanimously can be for both every 1 second deviations not
More than 10 °.
In one example, abnormal conditions when robot or intelligent vehicle move can be with are as follows: continuous 2 seconds odometer units
Time variable does not update in the data that time variable does not update in the data of output or continuous 2 seconds laser sensing units export,
Or IMU and the every 1 second angle change of odometer unit it is inconsistent.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The beneficial effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Claims (2)
1. a kind of violence countermeasure set based on IMU, which is characterized in that described device includes:
Odometer unit, for calculating the first posture information of robot or intelligent vehicle in pre-rendered map；
Laser sensing unit, what the first posture information based on odometer unit output detected the laser sensing unit
Barrier is matched with barrier in the pre-rendered map, to obtain robot or intelligent vehicle in the map
Accurate posture information；
Inertial navigation unit IMU, for calculating the second posture information of robot or intelligent vehicle by inertial navigation algorithm,
Wherein, described device by following steps under abnormal conditions odometer unit and laser sensing unit be corrected:
1) IMU, odometer unit, laser sensing unit and the timer of robot or intelligent vehicle are initialized；
2) every the state of the IMU of 1 second robot of detection or intelligent vehicle, odometer unit, laser sensing unit；
3) normal condition when robot or intelligent vehicle movement is defined；
4) abnormal conditions when robot or intelligent vehicle movement are defined；
5) when detecting that robot or intelligent vehicle become abnormal conditions from normal condition, preceding 1 second odometer unit is exported
The first posture information, laser sensing unit output accurate posture information and IMU output the second pose information preservation be
Baseline mileage meter cell data, reference laser sensing unit data and IMU reference data；
6) after detecting robot or intelligent vehicle and becoming normal condition from abnormal conditions, the reference laser is sensed single
The result that metadata is added with the second pose information change amount that abnormal conditions period IMU is exported is as the laser after correction
Feel cell data, and repeats step 5) and 6)；
Wherein, the normal condition are as follows: IMU communication is normal, odometer unit communication is normal and laser sensing unit communication just
Often, and IMU is consistent with the angle of variation in odometer unit every 1 second；
The abnormal conditions are as follows: time variable does not update in the data of continuous 2 seconds odometer units output or continuous 2 seconds swash
Light sensing unit output data in time variable do not update or IMU and the every 1 second angle change of odometer unit it is different
It causes；
The IMU and the angle of variation in odometer unit every 1 second are unanimously that both every 1 second deviation is no more than 10 °.
2. a kind of violence interference method based on IMU, which is characterized in that the described method comprises the following steps:
1) IMU, odometer unit, laser sensing unit and the timer of robot or intelligent vehicle are initialized；
2) every the state of the IMU of 1 second robot of detection or intelligent vehicle, odometer unit, laser sensing unit；
3) normal condition when robot or intelligent vehicle movement is defined；
4) abnormal conditions when robot or intelligent vehicle movement are defined；
5) when detecting that robot or intelligent vehicle become abnormal conditions from normal condition, preceding 1 second odometer unit is exported
The first posture information, laser sensing unit output accurate posture information and IMU output the second pose information preservation be
Baseline mileage meter cell data, reference laser sensing unit data and IMU reference data；
6) after detecting robot or intelligent vehicle and becoming normal condition from abnormal conditions, the reference laser is sensed single
The result that metadata is added with the second pose information change amount that abnormal conditions period IMU is exported is as the laser after correction
Feel cell data, and repeats step 5) and 6)；
Wherein, the normal condition are as follows: IMU communication is normal, odometer unit communication is normal and laser sensing unit communication just
Often, and IMU is consistent with the angle of variation in odometer unit every 1 second；
The abnormal conditions are as follows: time variable does not update in the data of continuous 2 seconds odometer units output or continuous 2 seconds swash
Light sensing unit output data in time variable do not update or IMU and the every 1 second angle change of odometer unit it is different
It causes；
The IMU and the angle of variation in odometer unit every 1 second are unanimously that both every 1 second deviation is no more than 10 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786682.2A CN106403998B (en) | 2016-08-30 | 2016-08-30 | Violence countermeasure set and method based on IMU |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786682.2A CN106403998B (en) | 2016-08-30 | 2016-08-30 | Violence countermeasure set and method based on IMU |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106403998A CN106403998A (en) | 2017-02-15 |
| CN106403998B true CN106403998B (en) | 2019-05-03 |
Family
ID=58001115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610786682.2A Active CN106403998B (en) | 2016-08-30 | 2016-08-30 | Violence countermeasure set and method based on IMU |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106403998B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801253B (en) * | 2017-04-27 | 2021-03-09 | 深圳乐动机器人有限公司 | Robot map building and positioning system and robot |
| CN109696664B (en) * | 2019-01-07 | 2020-09-11 | 广州小鹏汽车科技有限公司 | Detection method and detection device for ultrasonic co-channel interference |
| CN111197987A (en) * | 2020-02-26 | 2020-05-26 | 深圳市银星智能科技股份有限公司 | Dilemma identification method and device and computer storage medium |
| CN113701745B (en) * | 2020-05-21 | 2024-03-08 | 杭州海康威视数字技术股份有限公司 | External parameter change detection method, device, electronic equipment and detection system |
| CN113820985A (en) * | 2021-09-26 | 2021-12-21 | 北京云迹科技有限公司 | Risk level control method and device for robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674015A (en) * | 2013-12-13 | 2014-03-26 | 国家电网公司 | Trackless positioning navigation method and device |
| CN104977004A (en) * | 2015-07-13 | 2015-10-14 | 湖北航天技术研究院总体设计所 | Method and system for integrated navigation of laser inertial measuring unit and odometer |
| CN105045263A (en) * | 2015-07-06 | 2015-11-11 | 杭州南江机器人股份有限公司 | Kinect-based robot self-positioning method |
| CN105628026A (en) * | 2016-03-04 | 2016-06-01 | 深圳大学 | Positioning and posture determining method and system of mobile object |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8639426B2 (en) * | 2010-07-15 | 2014-01-28 | George C Dedes | GPS/IMU/video/radar absolute/relative positioning communication/computation sensor platform for automotive safety applications |
-
2016
- 2016-08-30 CN CN201610786682.2A patent/CN106403998B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674015A (en) * | 2013-12-13 | 2014-03-26 | 国家电网公司 | Trackless positioning navigation method and device |
| CN105045263A (en) * | 2015-07-06 | 2015-11-11 | 杭州南江机器人股份有限公司 | Kinect-based robot self-positioning method |
| CN104977004A (en) * | 2015-07-13 | 2015-10-14 | 湖北航天技术研究院总体设计所 | Method and system for integrated navigation of laser inertial measuring unit and odometer |
| CN105628026A (en) * | 2016-03-04 | 2016-06-01 | 深圳大学 | Positioning and posture determining method and system of mobile object |
Non-Patent Citations (1)
| Title |
|---|
| 基于激光测距法提高车载激光捷联惯导/里程仪组合导航系统导航精度的初步研究;陈文学等;《光学与光电技术》;20160430;第14卷(第2期);第46-49页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106403998A (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106403998B (en) | Violence countermeasure set and method based on IMU | |
| US10571277B2 (en) | Charger, and method, apparatus and system for finding charger based on map constructing | |
| CN110316195A (en) | The driving assistance system of vehicle | |
| Bonnifait et al. | Design and experimental validation of an odometric and goniometric localization system for outdoor robot vehicles | |
| US8548731B2 (en) | Navigation method, navigation system, navigation device, vehicle provided therewith and group of vehicles | |
| US20170122742A1 (en) | Method and system for guidance of off-road vehicles | |
| CN105628027B (en) | A kind of accurate real-time location method of indoor environment based on MEMS inertia device | |
| CN107402012A (en) | A kind of Combinated navigation method of vehicle | |
| US9658069B2 (en) | Method for determining a reference position as the starting position for an inertial navigation system | |
| WO2016013095A1 (en) | Autonomous moving device | |
| KR100953079B1 (en) | Map matching method using geomagnetic sensor and navigation system | |
| CN101970989A (en) | Device for assisting in the navigation of a person | |
| US9969081B2 (en) | Method and system for the directed control of robotic assets | |
| CN205121338U (en) | AGV navigation based on image recognition and wireless network | |
| CN101866017B (en) | Magnetic positioning method of traffic vehicle based on displacement cyclic unique code | |
| CN110763224A (en) | Navigation method and navigation system for automatic guided transport vehicle | |
| CN109612462A (en) | Fusion localization method and its security robot | |
| CN104422449A (en) | Vehicle navigation method and vehicle navigation device | |
| CN102721416A (en) | Positioning method and mobile terminal | |
| CN107357290A (en) | One kind is based on magnetic navigation robot ambulation system | |
| CN107462242A (en) | Vehicle speed measuring method and its device | |
| TWI426241B (en) | Self - propelled device for the tracking system | |
| CN206073998U (en) | A kind of geophysics inertial navigation system | |
| Lu et al. | Parity relation based fault detection, isolation and reconfiguration for autonomous ground vehicle localization sensors | |
| CN107990893A (en) | The detection method that environment is undergone mutation is detected in two-dimensional laser radar SLAM |
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 | ||
| CP03 | Change of name, title or address |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |