CN106527449A - 避障系统 - Google Patents
避障系统 Download PDFInfo
- Publication number
- CN106527449A CN106527449A CN201611209076.0A CN201611209076A CN106527449A CN 106527449 A CN106527449 A CN 106527449A CN 201611209076 A CN201611209076 A CN 201611209076A CN 106527449 A CN106527449 A CN 106527449A
- Authority
- CN
- China
- Prior art keywords
- detector
- moving body
- distance
- detecting distance
- ground
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000012360 testing method Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- 241000222712 Kinetoplastida Species 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611209076.0A CN106527449B (zh) | 2016-12-23 | 避障系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611209076.0A CN106527449B (zh) | 2016-12-23 | 避障系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106527449A true CN106527449A (zh) | 2017-03-22 |
CN106527449B CN106527449B (zh) | 2024-06-21 |
Family
ID=
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107092259A (zh) * | 2017-06-08 | 2017-08-25 | 纳恩博(北京)科技有限公司 | 机器人的防跌落方法和装置 |
WO2017219751A1 (zh) * | 2016-06-21 | 2017-12-28 | 安徽酷哇机器人有限公司 | 具有自主跟随避障功能的移动行李箱及其使用方法 |
CN107914271A (zh) * | 2017-11-15 | 2018-04-17 | 上海与德科技有限公司 | 一种基于机器人的控制方法及控制系统 |
CN108673510A (zh) * | 2018-06-20 | 2018-10-19 | 北京云迹科技有限公司 | 机器人安全行进系统及方法 |
CN109765900A (zh) * | 2019-02-15 | 2019-05-17 | 浙江大华技术股份有限公司 | 一种行进控制方法、装置、机器人及存储介质 |
CN109814555A (zh) * | 2019-01-18 | 2019-05-28 | 浙江大华机器人技术有限公司 | 一种机器人防跌落反应距离调节的方法及装置 |
CN110051290A (zh) * | 2019-04-04 | 2019-07-26 | 尚科宁家(中国)科技有限公司 | 一种控制扫地机器人的方法 |
CN110162030A (zh) * | 2018-02-12 | 2019-08-23 | 北京欣奕华科技有限公司 | 一种移动机器人及其障碍物检测方法 |
CN110928285A (zh) * | 2018-09-20 | 2020-03-27 | 宝时得科技(中国)有限公司 | 自动行走设备、及其悬崖识别方法与装置 |
CN112224300A (zh) * | 2020-12-15 | 2021-01-15 | 之江实验室 | 一种用于双足机器人下台阶的稳定行走方法 |
CN112462772A (zh) * | 2020-11-26 | 2021-03-09 | 深圳优地科技有限公司 | 机器人行进方法、装置、设备及存储介质 |
CN112493924A (zh) * | 2019-08-26 | 2021-03-16 | 苏州宝时得电动工具有限公司 | 清洁机器人及其控制方法 |
WO2021120998A1 (zh) * | 2019-12-20 | 2021-06-24 | 深圳市杉川机器人有限公司 | 自主机器人及其控制方法 |
CN114137968A (zh) * | 2021-11-23 | 2022-03-04 | 北京云迹科技有限公司 | 一种避障方法、装置、设备及存储介质 |
CN114137966A (zh) * | 2021-11-22 | 2022-03-04 | 北京云迹科技有限公司 | 一种移动装置的控制方法、装置、系统及存储介质 |
CN115005714A (zh) * | 2022-06-22 | 2022-09-06 | 宁波国琅机器人科技有限公司 | 一种扫地机器人控制方法、系统、存储介质及智能终端 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07229727A (ja) * | 1994-02-22 | 1995-08-29 | Nikon Corp | 路面検出装置 |
JP2007193495A (ja) * | 2006-01-18 | 2007-08-02 | Matsushita Electric Works Ltd | 移動車両 |
JP2015105046A (ja) * | 2013-11-29 | 2015-06-08 | Idec株式会社 | 地上移動体、制御回路、計測装置及び設定プログラム |
CN105074600A (zh) * | 2013-02-27 | 2015-11-18 | 夏普株式会社 | 周围环境识别装置、使用其的自主移动系统以及周围环境识别方法 |
CN106123919A (zh) * | 2016-06-15 | 2016-11-16 | 上海木爷机器人技术有限公司 | 避障检测系统 |
CN106131375A (zh) * | 2016-06-29 | 2016-11-16 | 联想(北京)有限公司 | 设备以及运动状态检测方法 |
CN206282141U (zh) * | 2016-12-23 | 2017-06-27 | 上海木爷机器人技术有限公司 | 避障系统 |
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07229727A (ja) * | 1994-02-22 | 1995-08-29 | Nikon Corp | 路面検出装置 |
JP2007193495A (ja) * | 2006-01-18 | 2007-08-02 | Matsushita Electric Works Ltd | 移動車両 |
CN105074600A (zh) * | 2013-02-27 | 2015-11-18 | 夏普株式会社 | 周围环境识别装置、使用其的自主移动系统以及周围环境识别方法 |
JP2015105046A (ja) * | 2013-11-29 | 2015-06-08 | Idec株式会社 | 地上移動体、制御回路、計測装置及び設定プログラム |
CN106123919A (zh) * | 2016-06-15 | 2016-11-16 | 上海木爷机器人技术有限公司 | 避障检测系统 |
CN106131375A (zh) * | 2016-06-29 | 2016-11-16 | 联想(北京)有限公司 | 设备以及运动状态检测方法 |
CN206282141U (zh) * | 2016-12-23 | 2017-06-27 | 上海木爷机器人技术有限公司 | 避障系统 |
Non-Patent Citations (1)
Title |
---|
许宏岩,付宜利,王树国: "局部地形变化检测与移动机器人的行为决策", no. 08 * |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017219751A1 (zh) * | 2016-06-21 | 2017-12-28 | 安徽酷哇机器人有限公司 | 具有自主跟随避障功能的移动行李箱及其使用方法 |
CN107092259A (zh) * | 2017-06-08 | 2017-08-25 | 纳恩博(北京)科技有限公司 | 机器人的防跌落方法和装置 |
CN107914271A (zh) * | 2017-11-15 | 2018-04-17 | 上海与德科技有限公司 | 一种基于机器人的控制方法及控制系统 |
CN110162030A (zh) * | 2018-02-12 | 2019-08-23 | 北京欣奕华科技有限公司 | 一种移动机器人及其障碍物检测方法 |
CN108673510A (zh) * | 2018-06-20 | 2018-10-19 | 北京云迹科技有限公司 | 机器人安全行进系统及方法 |
CN110928285A (zh) * | 2018-09-20 | 2020-03-27 | 宝时得科技(中国)有限公司 | 自动行走设备、及其悬崖识别方法与装置 |
CN109814555A (zh) * | 2019-01-18 | 2019-05-28 | 浙江大华机器人技术有限公司 | 一种机器人防跌落反应距离调节的方法及装置 |
CN109814555B (zh) * | 2019-01-18 | 2022-02-18 | 浙江华睿科技股份有限公司 | 一种机器人防跌落反应距离调节的方法及装置 |
CN109765900A (zh) * | 2019-02-15 | 2019-05-17 | 浙江大华技术股份有限公司 | 一种行进控制方法、装置、机器人及存储介质 |
CN110051290A (zh) * | 2019-04-04 | 2019-07-26 | 尚科宁家(中国)科技有限公司 | 一种控制扫地机器人的方法 |
CN112493924A (zh) * | 2019-08-26 | 2021-03-16 | 苏州宝时得电动工具有限公司 | 清洁机器人及其控制方法 |
WO2021120998A1 (zh) * | 2019-12-20 | 2021-06-24 | 深圳市杉川机器人有限公司 | 自主机器人及其控制方法 |
CN112462772A (zh) * | 2020-11-26 | 2021-03-09 | 深圳优地科技有限公司 | 机器人行进方法、装置、设备及存储介质 |
CN112224300A (zh) * | 2020-12-15 | 2021-01-15 | 之江实验室 | 一种用于双足机器人下台阶的稳定行走方法 |
CN114137966A (zh) * | 2021-11-22 | 2022-03-04 | 北京云迹科技有限公司 | 一种移动装置的控制方法、装置、系统及存储介质 |
CN114137966B (zh) * | 2021-11-22 | 2024-05-31 | 北京云迹科技股份有限公司 | 一种移动装置的控制方法、装置、系统及存储介质 |
CN114137968A (zh) * | 2021-11-23 | 2022-03-04 | 北京云迹科技有限公司 | 一种避障方法、装置、设备及存储介质 |
CN114137968B (zh) * | 2021-11-23 | 2023-12-05 | 北京云迹科技股份有限公司 | 一种避障方法、装置、设备及存储介质 |
CN115005714A (zh) * | 2022-06-22 | 2022-09-06 | 宁波国琅机器人科技有限公司 | 一种扫地机器人控制方法、系统、存储介质及智能终端 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107533803B (zh) | 遮挡控制装置 | |
CN105984485B (zh) | 自动驾驶装置 | |
EP3779922A1 (en) | Method for estimating driving road and driving road estimation system | |
CN102160006B (zh) | 用于避免碰撞的系统和方法 | |
US9278689B1 (en) | Autonomous vehicle detection of and response to emergency vehicles | |
RU2490687C2 (ru) | Способ и система контроля автоматической посадки/взлета беспилотного летательного аппарата на круглую посадочную сетку платформы, в частности морской платформы | |
WO2020035728A3 (en) | Systems and methods for navigating with safe distances | |
US20190344714A1 (en) | Lane changer warning system and method of the same | |
FR2728374A1 (fr) | Procede et dispositif pour fournir une information, alerte ou alarme pour un aeronef a proximite du sol | |
US11500075B2 (en) | Identifying and/or removing ghost detections from lidar sensor output | |
JP2016193719A (ja) | 自動運転システムのための間隔に基づく速度制御法 | |
CN110103967A (zh) | 一种车辆自动变道方法及车辆控制系统、车辆 | |
PT2109064E (pt) | Sistemas de identificação orientação para estacionamento de aeronaves | |
CN206282141U (zh) | 避障系统 | |
CN106414202A (zh) | 用于确定主车辆的规避路径的方法 | |
CN113734201B (zh) | 车辆冗余控制方法、装置、电子设备及介质 | |
US10095238B2 (en) | Autonomous vehicle object detection | |
CN108458746A (zh) | 一种基于多类型传感器自适应融合方法 | |
US20210365029A1 (en) | Safety systems for semi-autonomous devices and methods of using the same | |
CN109795484A (zh) | 车辆控制方法和设备 | |
US6956959B2 (en) | Apparatus for recognizing environment | |
US10203259B2 (en) | Apparatus for detecting vehicle pitch angle using acceleration sensor and gyro sensor and method therof | |
WO2021237201A1 (en) | Display system and method | |
CN106527449A (zh) | 避障系统 | |
US11938972B2 (en) | Vehicle controller and method for controlling vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Country or region after: China Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai Noah Wood Robot Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: Shanghai zhihuilin Medical Technology Co.,Ltd. Country or region before: China Country or region after: China Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai zhihuilin Medical Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: Shanghai Zhihui Medical Technology Co.,Ltd. Country or region before: China Country or region after: China Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai Zhihui Medical Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Country or region before: China Country or region after: China Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: SHANGHAI MUYE ROBOT TECHNOLOGY Co.,Ltd. Country or region before: China |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant |