CN107289967B - Separable optical odometer and mobile robot - Google Patents
Separable optical odometer and mobile robot Download PDFInfo
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- CN107289967B CN107289967B CN201710707489.XA CN201710707489A CN107289967B CN 107289967 B CN107289967 B CN 107289967B CN 201710707489 A CN201710707489 A CN 201710707489A CN 107289967 B CN107289967 B CN 107289967B
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- 230000003287 optical effect Effects 0.000 title claims abstract description 107
- 238000003384 imaging method Methods 0.000 claims description 44
- 210000001503 joint Anatomy 0.000 claims description 11
- 238000003032 molecular docking Methods 0.000 claims description 10
- 239000000853 adhesive Substances 0.000 claims description 5
- 230000001070 adhesive effect Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 15
- 238000004140 cleaning Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G05D1/0238—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
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to a separable optical odometer and a mobile robot, wherein the optical odometer is arranged into a separable modular structure, and is assembled in the occasion needing to be used, so that the power consumption can be reduced, and meanwhile, the optical odometer can be used as a purchasing part for consumers to purchase, so that the purchasing cost of the consumers can be reduced. In addition, after the optical odometer is modularized, if the optical odometer is damaged, the maintenance can be directly disassembled or a new odometer can be replaced, so that the maintenance efficiency can be improved, the maintenance cost of the robot can be reduced, the maintenance of a special person is not required, and the maintenance can be finished by a user. If the robot is damaged, a user can purchase a new robot without the optical odometer and then continue to use the original optical odometer, so that the cost is reduced and the resource consumption is reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a detachable optical odometer and a mobile robot.
Background
The positioning technology of the walking robot is a basic part of the robot technology, and the robot can do other intelligent behaviors only by knowing where the robot is. The current robot positioning technology is various, including laser positioning, visual positioning, inertial navigation positioning, satellite navigation positioning, radio positioning, etc. Positioning independent of external signals (such as satellites, base station signals, etc.) is called autonomous positioning, and is more adaptive, for example, for various home robots. Laser positioning and visual positioning accuracy is high, but the machine requires additional structure to assemble these components, and the cost is also relatively high. With the development of technology, the drift of inertial navigation for a long time is greatly improved, but the technology has poor adaptability to special floors, such as carpets, tiles with water and the like, which are easy to slip. The carpet problem can be well solved by adopting the optical odometer, but the cost is increased, not all consumers need the optical odometer, if the carpet is not arranged at home, the optical odometer in the robot can not play a practical role, the purchase cost of the consumers can be increased, and meanwhile, the data processing resource and the energy consumption of the robot are wasted.
Disclosure of Invention
In order to solve the problems, the invention provides the detachable optical odometer and the mobile robot, and a user can choose whether to purchase or assemble the optical odometer according to actual demands, so that the flexibility of purchasing or using products is improved, the practicability of the products is ensured, and the purchasing cost is reduced. The specific technical scheme of the invention is as follows:
a detachable optical odometer, comprising an LED lamp, an imaging lens and an optical flow imaging sensor, further comprising:
the optical flow imaging device comprises a shell, wherein one end of the shell is provided with an optical inlet, and the other end of the shell is provided with an optical flow imaging sensor; the LED lamp is arranged at the light inlet, the imaging lens is arranged between the light inlet and the optical flow imaging sensor, and the imaging lens is used for focusing and imaging external light rays injected by the light inlet and then projecting the external light rays on the optical flow imaging sensor;
a signal connection part connected with the optical flow imaging sensor and exposed outside the shell;
the fixing part is arranged on the outer wall of the shell and is used for fixing the shell.
Further, the shell is hollow and straight-cylindrical, one end of the straight-cylindrical shell is opened to form the light inlet; the other end is closed, and the optical flow imaging sensor is arranged; the signal connection part is arranged on the outer side wall of the shell.
Further, the casing is hollow L shape, the one end opening of the minor face of L shape casing forms the light inlet, the other end with the one end intercommunication of the long limit of L shape casing, the intercommunication department is equipped with the speculum, the other end of long limit is equipped with the optical flow imaging sensor, signal connection portion sets up on the terminal surface of the other end of long limit.
Further, the fixing part is of a clamping structure, an adhesive structure or a screw structure.
The mobile robot comprises a main body and a driving wheel arranged at the lower part of the main body, wherein the main body further comprises an assembling part, and the assembling part is used for assembling the optical odometer.
Further, the assembly portion is a notch recessed inwards from the outer side wall of the main body, a signal butt joint portion is arranged on the inner wall of the notch, and when the optical odometer is assembled to the notch, the signal connection portion and the signal butt joint portion are in contact with each other.
Further, the assembly part is a hole which is recessed inwards from the bottom of the main body, a signal butt joint part is arranged on the inner wall of the hole, and when the optical odometer is assembled to the hole, the signal connection part and the signal butt joint part are in contact with each other.
Further, the assembly part is an L-shaped groove formed by inwards sinking from the outer side wall and the upper end surface of the main body, or an L-shaped groove formed by inwards sinking from the outer side wall of the main body to a first depth and a second depth, the inner wall of the groove is provided with a signal butting part, and when the optical odometer is assembled to the groove, the signal connecting part and the signal butting part are in contact with each other.
Further, the assembly part is also provided with a clamping structure, an adhesive structure or a screw structure matched with the optical odometer.
Further, the signal docking portion is connected with a processor in the main body.
The invention has the beneficial effects that: the optical odometer is arranged into a separable modular structure, and is assembled in the occasion needing to be used, so that the power consumption can be reduced, and meanwhile, the optical odometer can be used as a purchasing part for consumers to purchase, so that the purchasing cost of the consumers can be reduced. In addition, after the optical odometer is modularized, if the optical odometer is damaged, the maintenance can be directly disassembled or a new odometer can be replaced, so that the maintenance efficiency can be improved, the maintenance cost of the robot can be reduced, the maintenance of a special person is not required, and the maintenance can be finished by a user. If the robot is damaged, a user can purchase a new robot without the optical odometer and then continue to use the original optical odometer, so that the cost is reduced and the resource consumption is reduced.
Drawings
Fig. 1 is a schematic structural view of a detachable optical odometer according to the present invention.
Fig. 2 is a schematic diagram of a detachable optical odometer according to the second embodiment of the invention.
Fig. 3 is a schematic structural diagram of a mobile robot according to the present invention.
Fig. 4 is a schematic structural diagram of a mobile robot according to the present invention.
Fig. 5 is a schematic structural diagram of a mobile robot according to the present invention.
Fig. 6 is a schematic structural diagram of a mobile robot according to the present invention.
Detailed Description
The following is a further description of embodiments of the invention, taken in conjunction with the accompanying drawings:
the optical odometer 106 is a sensor for detecting an image by an optical principle to obtain an optical image, and the processor 102 processes the detected optical image data to obtain information of a moving distance, which is mainly applied to a vision system of a robot. The detachable optical odometer 106 as shown in fig. 1 and 2 includes a housing 201, an LED lamp 204, an imaging lens 202, an optical flow imaging sensor 205, a signal connection portion 203, and a fixing portion 206. One end of the shell 201 is provided with a light inlet, and the other end is provided with an optical flow imaging sensor 205; the LED lamp 204 is arranged at the light inlet, and the imaging lens 202 is arranged between the light inlet and the optical flow imaging sensor 205. The light emitted by the LED lamp 204 is reflected by an external object and then enters from the light inlet, and the imaging lens 202 focuses and images the external light entering from the light inlet and then projects the focused and imaged external light onto the optical flow imaging sensor 205. One end of the signal connection part 203 is connected to the optical flow imaging sensor 205, and the other end is exposed outside the housing 201, so as to be conveniently connected to an external processor 102, and transmit data detected by the optical flow imaging sensor 205 to the processor 102. The fixing portion 206 is provided on an outer wall of the housing 201, and is used for fixing the housing 201.
The optical odometer 106 is arranged into a separable modular structure, and is assembled in the occasion needing to be used, so that the power consumption can be reduced, and meanwhile, the optical odometer can be used as a purchasing part for consumers to purchase, so that the purchasing cost of the consumers can be reduced. In addition, after the optical odometer 106 is modularized, if the optical odometer 106 is damaged, the maintenance can be directly disassembled or a new odometer can be replaced, so that the maintenance efficiency can be improved, the maintenance cost of the robot can be reduced, the maintenance of a special person is not required, and the maintenance can be finished by a user. If the robot is damaged, the user can purchase a new robot without the optical odometer 106 and then continue to use the original optical odometer 106, thereby reducing cost and resource consumption.
Preferably, as shown in fig. 1: the housing 201 is a hollow straight cylinder, and its outer shape (shape of the outer periphery of the cross section) may be designed in other shapes such as a circle or a square. One end of the straight cylindrical housing 201 is opened to form the light inlet; the other end is closed, and the optical flow imaging sensor 205 is arranged. The signal connection part 203 is disposed on the outer side wall of the housing 201, and has one end connected to the optical flow imaging sensor 205 through a signal line and the other end exposed outside the outer side wall. A clamping block is disposed on the outer side wall of the housing 201, and the housing 201 can be in snap connection with an external clamping groove through the clamping block, so as to fix the optical odometer 106. The optical odometer 106 with the structure has the advantages of simple structure, convenient production and manufacture, easy assembly with the robot main body 101 and suitability for popularization and application.
Preferably, as shown in fig. 2, the housing 201 has a hollow L shape. The short side of the L-shaped housing 201 has an opening at one end thereof, the light inlet is formed, the number of the LED lamps 204 is four, and the LED lamps are distributed at the light inlet in a circumferential arrangement with the center line of the light inlet as an axis. The other end of the short side of the L-shaped housing 201 is communicated with one end of the long side of the L-shaped housing 201, a reflecting mirror 207 is disposed at the communication position, and a planar lens 208 is disposed between the LED lamp 204 and the reflecting mirror 207, for preventing foreign objects from entering the housing 201. The optical flow imaging sensor 205 is disposed at the other end of the long side of the L-shaped housing 201, the signal connection portion 203 is disposed on the end face of the other end of the long side, and the signal connection portion 203 is a signal output end on the optical flow imaging sensor 205, so that an independent signal connection portion 203 is not required to be additionally disposed, and an additional signal line is not required to connect the independent signal connection portion 203 and the optical flow imaging sensor 205. The fixing portion 206 is configured by a bonding pad, and the bonding pad firmly bonds the optical odometer 106 to the robot body 101 when the optical odometer 106 is connected to the robot body 101. The optical odometer 106 with an L-shaped structure of the present invention adopts a reflector 207 to refract the light incident from the light incident port of the short side, and then projects the refracted light onto the imaging lens 202 positioned at the end of the long side, and finally projects the refracted light onto the optical flow imaging sensor 205 through the imaging lens 202. The bending optical system enables the optical odometer 106 to reduce the thickness of the mobile robot while ensuring the optical image detection performance, and avoids the problem of overlarge thickness of the mobile robot caused by the fact that the existing structure is used for increasing the depth of field.
The fixing portion 206 may be a screw structure, that is, a screw hole is provided in the housing 201, and the housing 201 is fixed to the robot body 101 by a fastener such as a screw or a bolt, in addition to the above-described fastening structure and adhesive structure.
The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, etc. is one kind of intelligent household appliance and can complete floor cleaning automatically in room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally, robots that perform cleaning, dust collection, and floor scrubbing work are also collectively referred to as floor cleaning robots. The machine body of the sweeping robot is a wireless machine and mainly comprises a disc type. The rechargeable battery is used for operation, and the operation mode is a remote control or an operation panel 103 on the machine. The cleaning can be reserved for a set time and the self-charging can be realized. The machine body is provided with various sensors which can detect the travelling distance, travelling angle, machine body state, obstacles and the like, and if the machine body touches a wall or other obstacles, the machine body can turn by itself and can travel different routes according to different settings, so that the area can be cleaned in a planning way.
As shown in fig. 3 and 4, the mobile robot according to the present invention includes a main body 101 and a driving wheel 104 provided at a lower portion of the main body 101. The front of the main body 101 is provided with a sensor for detecting collision, and the front collision detection sensor 105 may be physical collision detection or non-contact detection such as ultrasonic wave, laser, etc. An operation panel 103 is provided on an upper end surface of the main body 101, and the robot can be controlled by the operation panel 103. An inertial sensor such as an accelerometer and a gyroscope is provided in the robot main body 101, and a code wheel is further provided on the driving wheel 104. The body 101 further includes a fitting portion 108, and the fitting portion 108 is used for fitting the optical odometer 106.
Preferably, as shown in fig. 3, the fitting portion 108 is a notch recessed inward from an outer side wall of the main body 101, a signal docking portion 107 is provided on an inner wall of the notch, and when the optical odometer 106 is fitted to the notch, the signal connection portion 203 and the signal docking portion 107 are in contact with each other. The signal docking part 107 is connected to the processor 102 inside the robot main body 101, and is configured to send the data detected by the optical flow imaging sensor 205 to the processor 102 inside the main body 101, and the processor 102 controls the motion of the robot according to the received data. The notch is square column shaped, and is adapted to the square column shape of the optical odometer 106, and when the optical odometer 106 is assembled to the notch, the notch can be just filled (as shown in fig. 4). If the optical odometer 106 is not required, an auxiliary fitting, which is also square in shape, is used to fill up the gap, so that the robot is smooth in shape and the integrity of the main body 101 is ensured. And a clamping groove is further formed in the inner wall of the notch and is matched with a clamping block on the shell 201, and when the optical odometer 106 is assembled to the notch, the clamping block is inserted into the clamping groove, so that the optical odometer 106 is fixed in the notch.
Preferably, the assembling portion 108 is a hole recessed inward from the bottom of the main body 101, a signal docking portion 107 is provided on an inner wall of the hole, and when the optical odometer 106 is assembled to the hole, the signal connecting portion 203 and the signal docking portion 107 are in contact with each other. The fixing portion 206 is a fixing bracket integrally connected with the housing 201, and is provided with a threaded hole, and when the optical odometer 106 is inserted into the hole, a screw fixes the fixing bracket to the bottom of the robot through the threaded hole on the fixing bracket, so that the optical odometer 106 is fixed in the hole. At this time, the signal interfacing unit 107 transmits the data detected by the optical flow imaging sensor 205 to the processor 102 connected thereto, and the processor 102 controls the operation of the robot based on the received data. If the optical odometer 106 is not required, an auxiliary fitting with the same shape as the housing 201 is used to fill up the gap, so that the robot is smooth in shape and the integrity of the main body 101 is ensured.
Preferably, as shown in fig. 5, the fitting portion 108 is an L-shaped groove formed by recessing inward from the outer side wall and the upper end surface of the main body 101, a signal docking portion 107 is provided on the inner wall of the groove, and the signal connection portion 203 and the signal docking portion 107 are in contact with each other when the optical odometer 106 is fitted into the groove. The L-shaped groove is adapted to the L-shaped housing 201, and since the elongated slot of the L-shaped groove has a gravity supporting effect on the housing 201, the optical odometer 106 and the robot main body 101 can be firmly connected without other complex fixing structures by only sticking cotton, and the assembly and the disassembly are very convenient. After the assembly is completed, the signal docking portion 107 transmits the data detected by the optical flow imaging sensor 205 to the processor 102 connected thereto, and the processor 102 controls the action of the robot according to the received data. If the optical odometer 106 is not required, an auxiliary fitting with the same shape as the housing 201 is used to fill up the gap, so that the robot is smooth in shape and the integrity of the main body 101 is ensured.
Preferably, as shown in fig. 6, the fitting portion 108 is an L-shaped groove formed by recessing a first depth and a second depth inward from an outer side wall of the main body, wherein a shallow groove formed by recessing the first depth is a groove of a short side portion of the L-shape, and a deep groove formed by recessing the second depth is a groove of a long side portion of the L-shape. The L-shaped groove is positioned below the upper end face of the main body, so that the integrity and the aesthetic property of the upper end face can be ensured. The optical odometer is assembled by simply inserting the optical odometer from the side wall of the main body toward the inside of the main body. After assembly, the signal connection part 203 contacts with the signal butt joint part 107 on the inner wall of the groove, so as to realize signal transmission. Likewise, if the optical odometer 106 is not required, an auxiliary fitting having the same shape as the housing 201 is used to fill up the gap, so that the robot has a flat shape and the integrity of the body 101 is ensured.
The inward recess described in the above embodiment designates a recess toward the inside of the robot body, that is, a recess extending from the outer surface of the robot body toward the inside of the body.
The above embodiments are merely for fully disclosing the present invention, but not limiting the present invention, and should be considered as the scope of the disclosure of the present application based on the substitution of equivalent technical features of the inventive subject matter without creative work.
Claims (10)
1. A detachable optical odometer, includes LED lamp, imaging lens and optical flow imaging sensor, its characterized in that still includes:
the optical flow imaging device comprises a shell, wherein one end of the shell is provided with an optical inlet, and the other end of the shell is provided with an optical flow imaging sensor; the LED lamp is arranged at the light inlet, the imaging lens is arranged between the light inlet and the optical flow imaging sensor, and the imaging lens is used for focusing and imaging external light rays injected by the light inlet and then projecting the external light rays on the optical flow imaging sensor;
a signal connection part connected with the optical flow imaging sensor and exposed outside the shell;
the fixing part is arranged on the outer wall of the shell and is used for fixing the shell.
2. The optical odometer of claim 1, wherein: the shell is hollow and straight, one end of the straight shell is open to form the light inlet; the other end is closed, and the optical flow imaging sensor is arranged; the signal connection part is arranged on the outer side wall of the shell.
3. The optical odometer of claim 1, wherein: the light source is characterized in that the shell is hollow L-shaped, one end of the short side of the L-shaped shell is opened to form the light inlet, the other end of the L-shaped shell is communicated with one end of the long side of the L-shaped shell, a reflecting mirror is arranged at the communicating position, the optical flow imaging sensor is arranged at the other end of the long side, and the signal connecting part is arranged on the end face of the other end of the long side.
4. An optical odometer according to claim 2 or 3, wherein: the fixing part is of a clamping structure, an adhesive structure or a screw structure.
5. The utility model provides a mobile robot, includes main part and locates the drive wheel of main part lower part, its characterized in that: the body further comprises a fitting portion for fitting the optical odometer of any one of claims 1 to 4.
6. The robot of claim 5, wherein: the assembly part is a notch which is recessed inwards from the outer side wall of the main body, a signal butt joint part is arranged on the inner wall of the notch, and when the optical odometer is assembled to the notch, the signal connection part and the signal butt joint part are in contact with each other.
7. The robot of claim 5, wherein: the assembly part is a hole which is recessed inwards from the bottom of the main body, the inner wall of the hole is provided with a signal butt joint part, and when the optical odometer is assembled to the hole, the signal connection part and the signal butt joint part are in contact with each other.
8. The robot of claim 5, wherein: the assembly part is an L-shaped groove formed by inwards sinking from the outer side wall and the upper end surface of the main body, or an L-shaped groove formed by inwards sinking from the outer side wall of the main body to a first depth and a second depth, the inner wall of the groove is provided with a signal butt joint part, and when the optical odometer is assembled to the groove, the signal connection part is in contact with the signal butt joint part.
9. The robot according to any one of claims 6 to 8, wherein: the assembly part is also provided with a clamping structure, an adhesive structure or a screw structure matched with the optical odometer.
10. The robot according to any one of claims 6 to 8, wherein: the signal docking portion is connected with a processor in the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710707489.XA CN107289967B (en) | 2017-08-17 | 2017-08-17 | Separable optical odometer and mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710707489.XA CN107289967B (en) | 2017-08-17 | 2017-08-17 | Separable optical odometer and mobile robot |
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| CN107289967A CN107289967A (en) | 2017-10-24 |
| CN107289967B true CN107289967B (en) | 2023-06-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108983254A (en) * | 2018-08-08 | 2018-12-11 | 中国科学院电子学研究所 | Two-dimentional range unit and distance measuring method based on light stream sensor |
| CN111012255A (en) * | 2019-12-30 | 2020-04-17 | 江苏美的清洁电器股份有限公司 | Integrated component, cleaning robot and cleaning robot system |
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| CN104122408A (en) * | 2014-08-05 | 2014-10-29 | 华中科技大学 | Speed measuring equipment for underwater wheel type trolley |
| CN205655844U (en) * | 2016-05-27 | 2016-10-19 | 四川理工学院 | Robot odometer based on ROS |
| CN106658023A (en) * | 2016-12-21 | 2017-05-10 | 山东大学 | End-to-end visual odometer and method based on deep learning |
| CN207215130U (en) * | 2017-08-17 | 2018-04-10 | 珠海市一微半导体有限公司 | Detachable optics odometer and mobile robot |
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