CN107765689A - A kind of robot and its barrier-avoiding method - Google Patents
A kind of robot and its barrier-avoiding method Download PDFInfo
- Publication number
- CN107765689A CN107765689A CN201710907002.2A CN201710907002A CN107765689A CN 107765689 A CN107765689 A CN 107765689A CN 201710907002 A CN201710907002 A CN 201710907002A CN 107765689 A CN107765689 A CN 107765689A
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- support plate
- barrier
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 117
- 230000004888 barrier function Effects 0.000 claims abstract description 41
- 230000000694 effects Effects 0.000 claims abstract description 10
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims 1
- 238000012372 quality testing Methods 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention discloses a kind of robot and its barrier-avoiding method, including control device, drive device and avoidance detection means, the avoidance detection means includes activity detection portion and oriented detection portion, the activity detection portion includes arc support plate, first detection of obstacles sensor, second obstacle sensor, 3rd obstacle sensor and the first steering wheel, steering wheel disk is installed on first steering wheel, first steering wheel is located above drive device, first steering wheel is fixedly connected with drive device, the steering wheel disk is connected with drive link, the drive link end is fixedly connected with arc support plate, the arc support plate is suspended on before drive device by drive link, the oriented detection portion includes the second steering wheel and infrared distance measuring from sensor, the infrared distance measuring is fixedly connected from sensor with the rotating shaft of the second steering wheel；The sensing of robot detection barrier is lacked.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of robot and its barrier-avoiding method.
Background technology
With the development of science and technology, artificial intelligence robot is more and more applied among all trades and professions, passed with substituting
The labour of system.Robot is during traveling, it is necessary to which avoiding obstacles, currently used Obstacle Avoidance include：Inspection
The distance of robot and barrier is surveyed, when the distance detected is less than pre-determined distance, control machine people stops movement.
The existing sensing that very more detection barriers can be incorporated with the robot of obstacle, configures substantial amounts of sensor
Easily increase cost, it is difficult to meet the needs of in the market.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of few robot of sensing for detecting barrier.
To solve the above problems, the present invention adopts the following technical scheme that：
A kind of robot, including control device, drive device and avoidance detection means, the avoidance detection means include activity
Test section and oriented detection portion, the activity detection portion include arc support plate, the first detection of obstacles sensor, the second obstacle
Thing sensor, the 3rd obstacle sensor and the first steering wheel, the first detection of obstacles sensor are located in arc support plate
Portion, the second detection of obstacles sensor are located at the left end of arc support plate, and the 3rd detection of obstacles sensor is located at arc
The right-hand member of shape support plate, steering wheel disk being installed on first steering wheel, first steering wheel is located above drive device, and described first
Steering wheel is fixedly connected with drive device, and the steering wheel disk is connected with drive link, and the drive link end is fixedly connected with arc support plate,
The arc support plate is suspended on before drive device by drive link, and the oriented detection portion includes the second steering wheel and infrared ray
Range sensor is surveyed, the infrared distance measuring is fixedly connected from sensor with the rotating shaft of the second steering wheel.
Preferably, the first detection of obstacles sensor, the second obstacle sensor and the 3rd obstacle sensor
The setting of arc support plate is embedded in, by by the first detection of obstacles sensor, the second obstacle sensor and the 3rd barrier
Sensor is embedded in arc support plate, can effectively prevent the first detection of obstacles sensor, the second obstacle sensor and
3rd obstacle sensor is damaged.
Preferably, the arc support plate is hollow setting, arc support plate weight is slim and graceful, can effectively reduce the first rudder
The burden of machine.
Preferably, screw thread is provided below from sensor in the infrared distance measuring, the screw thread and infrared distance measuring from
Sensor bonds, and is provided with the external screw thread to match with screw thread in the rotating shaft of second steering wheel, second steering wheel and infrared
Line is surveyed range sensor and connected by screw thread with external screw thread.
Preferably, the drive link and arc support plate mortise-tenon joint, drive link are combined with each other with arc support plate, prop up mutually
Support, stable connection are reliable.
Preferably, being provided with buffer rubber gasket on the arc support plate, the buffer rubber gasket is located at the first barrier
The surface of detection sensor, the buffer rubber gasket bond with arc support plate, can be effective by being provided with buffer rubber gasket
Reduction advance when strike barrier and cause arc support plate spoilage.
Preferably, the drive link includes first paragraph bar and second segment bar, it is provided with the first paragraph bar and the
The jack that two sections of bars match, it is provided with the jack to pushing up wavy spring, in the second segment bar insertion jack, described the
Two sections of bars and first paragraph bar to the both ends for pushing up wavy spring respectively with bonding, by being set between first paragraph bar and second segment bar
Have to pushing up wavy spring, good buffering effect can be played, can effectively prevent arc support plate to be damaged.
Preferably, first steering wheel is embedded in drive device setting, employed between the first steering wheel and drive device
Embedded structure, overall volume can be effectively reduced.
The invention solves another technical problem be to provide a kind of barrier-avoiding method of robot, it is characterised in that bag
Include following steps：
1）Detect in the direction that oriented detection portion needs to advance to drive device；
2）Once oriented detection portion, which detects, barrier in direction of advance 50-100cm, then signal is fed back into control device,
The first detection of obstacles sensor, the second obstacle sensor, the 3rd obstacle sensor is opened to be detected, and by after detection
Feedback of the information to control device, wherein：
First detection of obstacles sensor, it whether there is barrier and drive device and obstacle immediately ahead of robot for detecting
The distance and bearing angle of thing, when the first detection of obstacles sensor and oriented detection portion are detected and detected with oriented detection portion
Obstacle distance signal is then fed back into control device when being less than 50cm, control device temporarily ceases drive device advance；
Second obstacle sensor, it whether there is barrier and drive device and barrier for detecting front on the left of robot
Distance and bearing angle；
3rd obstacle sensor, it whether there is barrier and drive device and barrier for detecting front on the right side of robot
Distance and bearing angle；
3）Control device passes according to the first detection of obstacles sensor, the second detection of obstacles sensor and the 3rd detection of obstacles
Sensor control drive device moves toward the direction of the farthest new barrier of distance, until oriented detection portion can't detect former barrier
Untill, then proceed to advance toward the direction for needing to advance.
Preferably, when the second detection of obstacles sensor and the 3rd detection of obstacles sensor detect left side front and
When being respectively provided with barrier in 30cm in front of right side, control device controls the first steering wheel arch of a swing support plate to increase investigative range.
Beneficial effects of the present invention are：By by the first detection of obstacles sensor, the second obstacle sensor and the 3rd
Obstacle sensor is arranged on arc support plate, and the first rudder is respectively adopted from sensor in arc support plate and infrared distance measuring
Machine and the second steering wheel, which are realized, to be rotated, can so as to ensure still there is larger detection range in the case of less sensor
To effectively reduce cost, in addition, the first detection of obstacles sensor, the second obstacle sensor and the 3rd obstacle sensor
The setting of arc support plate is embedded in, by by the first detection of obstacles sensor, the second obstacle sensor and the 3rd barrier
Sensor is embedded in arc support plate, can effectively prevent the first detection of obstacles sensor, the second obstacle sensor and
3rd obstacle sensor is damaged.Arc support plate is hollow setting, and arc support plate weight is slim and graceful, can effectively reduce first
The burden of steering wheel.Screw thread is provided below from sensor in infrared distance measuring, and screw thread bonds with infrared distance measuring from sensor, and second
Be provided with the rotating shaft of steering wheel the external screw thread to match with screw thread, the second steering wheel and infrared distance measuring from sensor by screw thread and
External screw thread connects.Drive link and arc support plate mortise-tenon joint, drive link are combined with each other with arc support plate, mutually support, and connection is steady
It is fixed reliable.Buffer rubber gasket is provided with arc support plate, buffer rubber gasket is located at the surface of the first detection of obstacles sensor,
Buffer rubber gasket is bonded with arc support plate, and by being provided with buffer rubber gasket, obstacle is struck when can effectively reduce advance
Thing and cause arc support plate spoilage.Drive link includes first paragraph bar and second segment bar, is provided with first paragraph bar and second
The jack that matches of section bar, it is provided with jack to pushing up wavy spring, in second segment bar insertion jack, second segment bar and first paragraph
Bar to the both ends for pushing up wavy spring respectively with bonding, by being provided between first paragraph bar and second segment bar to pushing up waveform bullet
Spring, good buffering effect can be played, can effectively prevent arc support plate to be damaged.First steering wheel is embedded in drive device
Set, Embedded structure is employed between the first steering wheel and drive device, overall volume can be effectively reduced.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of overall structure diagram of robot of the present invention；
Fig. 2 is a kind of part sectioned view of the drive link of robot of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment 1
As shown in figure 1, a kind of robot, including control device 1, drive device 2 and avoidance detection means, the avoidance detection dress
The activity detection portion and oriented detection portion of including are put, the activity detection portion includes arc support plate 3, the first detection of obstacles passes
Sensor 4, the second obstacle sensor 5, the 3rd obstacle sensor 6 and the first steering wheel 7, the first detection of obstacles sensor
4 are located at the middle part of arc support plate 3, and the second detection of obstacles sensor 5 is located at the left end of arc support plate 3, the 3rd barrier
Hinder analyte detection sensor 6 to be located at the right-hand member of arc support plate 3, steering wheel disk 8, first steering wheel 7 are installed on first steering wheel 7
Above drive device 2, first steering wheel 7 is threadedly coupled with drive device 2, and the steering wheel disk 8 is connected with drive link 9, institute
The end of drive link 9 and the bolt connection of arc support plate 3 are stated, the arc support plate 3 is suspended on before drive device 2 by drive link 9,
The oriented detection portion includes the second steering wheel 10 and infrared distance measuring from sensor 11, and the infrared distance measuring is from sensor 11
Rotating shaft with the second steering wheel 10 is fixedly connected.By by the first detection of obstacles sensor 4, the second obstacle sensor 5 and
Three obstacle sensors 6 are arranged on arc support plate 3, and arc support plate 3 and infrared distance measuring are adopted respectively from sensor 11
Realized and rotated with the first steering wheel 7 and the second steering wheel 10, it is larger so as to ensure still to have in the case of less sensor
Detection range, cost can be effectively reduced.
The present embodiment has the beneficial effect that：By by the first detection of obstacles sensor, the second obstacle sensor and
Three obstacle sensors are arranged on arc support plate, and arc support plate and infrared distance measuring are respectively adopted first from sensor
Steering wheel and the second steering wheel, which are realized, to be rotated, so as to ensure that still there is larger detection range in the case of less sensor,
Cost can be effectively reduced.
Embodiment 2
As shown in Figure 1-2, a kind of robot, including control device 1, drive device 2 and avoidance detection means, the avoidance detection
Device includes activity detection portion and oriented detection portion, and the activity detection portion includes arc support plate 3, the first detection of obstacles
Sensor 4, the second obstacle sensor 5, the 3rd obstacle sensor 6 and the first steering wheel 7, the first detection of obstacles sensing
Device 4 is located at the middle part of arc support plate 3, and the second detection of obstacles sensor 5 is located at the left end of arc support plate 3, and the described 3rd
Detection of obstacles sensor 6 is located at the right-hand member of arc support plate 3, and steering wheel disk 8, first rudder are provided with first steering wheel 7
Machine 7 is located above drive device 2, and first steering wheel 7 is fixedly connected with drive device 2, and the steering wheel disk 8 is connected with drive link 9,
The end of drive link 9 is fixedly connected with arc support plate 3, before the arc support plate 3 is suspended on drive device 2 by drive link 9
Face, the oriented detection portion include the second steering wheel 10 and infrared distance measuring from sensor 11, and the infrared distance measuring is from sensing
Device 11 is fixedly connected with the rotating shaft of the second steering wheel 10.The first detection of obstacles sensor 4, the and of the second obstacle sensor 5
3rd obstacle sensor 6 is embedded in arc support plate 3 and set, by by the first detection of obstacles sensor 4, the second barrier
The obstacle sensor 6 of sensor 5 and the 3rd is embedded in arc support plate 3, can effectively prevent the first detection of obstacles from sensing
Device 4, the second obstacle sensor 5 and the 3rd obstacle sensor 6 are damaged.The arc support plate 3 is hollow setting, and arc carries
The weight of plate 3 is slim and graceful, can effectively reduce the burden of the first steering wheel 7.The infrared distance measuring is provided below from sensor 11
Screw thread 12, the screw thread 12 bond with infrared distance measuring from sensor 11, are provided with the rotating shaft of second steering wheel 10 and silk
The external screw thread that button 12 matches（It is not shown）, second steering wheel 10 and infrared distance measuring pass through screw thread 12 and outer from sensor 11
Threaded connection.The drive link 9 and the mortise-tenon joint of arc support plate 3, drive link 9 are combined with each other with arc support plate 3, mutually support,
Stable connection is reliable.Buffer rubber gasket 13 is provided with the arc support plate 3, the buffer rubber gasket 13 is located at the first barrier
The surface of detection sensor 4, the buffer rubber gasket 13 bond with arc support plate 3, can by being provided with buffer rubber gasket 13
Barrier is struck during effectively reducing advance and causes the spoilage of arc support plate 3.The drive link 9 includes first paragraph bar
14 and second segment bar 15, the jack to match with second segment bar 15 is provided with the first paragraph bar 14（It is not shown）, it is described to insert
It is provided with hole to pushing up wavy spring 16, the second segment bar 15 is inserted in jack, the second segment bar 15 and first paragraph bar 14
Respectively with being bonded to the both ends for pushing up wavy spring 16, by being provided between first paragraph bar 14 and second segment bar 15 to pushing up waveform
Spring 16, good buffering effect can be played, can effectively prevent arc support plate 3 to be damaged.First steering wheel 7 is embedded in
Set in drive device 2, employ Embedded structure between the first steering wheel 7 and drive device 2, entirety can be effectively reduced
Volume.By the way that the first detection of obstacles sensor 4, the second obstacle sensor 5 and the 3rd obstacle sensor 6 are respectively provided with
On arc support plate 3, and the first steering wheel 7 and the second steering wheel is respectively adopted from sensor 11 in arc support plate 3 and infrared distance measuring
10 realize rotation, so as to ensure still there is larger detection range in the case of less sensor, can effectively drop
Low cost.
The present embodiment has the beneficial effect that：By by the first detection of obstacles sensor, the second obstacle sensor and
Three obstacle sensors are arranged on arc support plate, and arc support plate and infrared distance measuring are respectively adopted first from sensor
Steering wheel and the second steering wheel, which are realized, to be rotated, so as to ensure that still there is larger detection range in the case of less sensor,
Cost can be effectively reduced, the first detection of obstacles sensor, the second obstacle sensor and the 3rd obstacle sensor are equal
The setting of arc support plate is embedded in, by the way that the first detection of obstacles sensor, the second obstacle sensor and the 3rd barrier are passed
Sensor is embedded in arc support plate, can effectively prevent the first detection of obstacles sensor, the second obstacle sensor and
Three obstacle sensors are damaged.Arc support plate is hollow setting, and arc support plate weight is slim and graceful, can effectively reduce the first rudder
The burden of machine.Screw thread is provided below from sensor in infrared distance measuring, and screw thread bonds with infrared distance measuring from sensor, the second rudder
The external screw thread to match with screw thread, the second steering wheel and infrared distance measuring are provided with the rotating shaft of machine and passes through screw thread and outer from sensor
Threaded connection.Drive link and arc support plate mortise-tenon joint, drive link are combined with each other with arc support plate, mutually support, stable connection
Reliably.Buffer rubber gasket is provided with arc support plate, buffer rubber gasket is located at the surface of the first detection of obstacles sensor, delays
Rush rubber blanket to bond with arc support plate, by being provided with buffer rubber gasket, barrier is struck when can effectively reduce advance
And cause arc support plate spoilage.Drive link includes first paragraph bar and second segment bar, is provided with first paragraph bar and second segment
The jack that bar matches, it is provided with jack to pushing up wavy spring, in second segment bar insertion jack, second segment bar and first paragraph bar
Respectively with being bonded to the both ends for pushing up wavy spring, by being provided between first paragraph bar and second segment bar to pushing up wavy spring,
Good buffering effect can be played, can effectively prevent arc support plate to be damaged.First steering wheel is embedded in drive device and set
Put, Embedded structure is employed between the first steering wheel and drive device, overall volume can be effectively reduced.
The invention solves another technical problem be to provide a kind of barrier-avoiding method of robot, it is characterised in that bag
Include following steps：
1）Detect in the direction that oriented detection portion needs to advance to drive device；
2）Once oriented detection portion, which detects, barrier in direction of advance 50-100cm, then signal is fed back into control device,
The first detection of obstacles sensor, the second obstacle sensor, the 3rd obstacle sensor is opened to be detected, and by after detection
Feedback of the information to control device, wherein：
First detection of obstacles sensor, it whether there is barrier and drive device and obstacle immediately ahead of robot for detecting
The distance and bearing angle of thing, when the first detection of obstacles sensor and oriented detection portion are detected and detected with oriented detection portion
Obstacle distance signal is then fed back into control device when being less than 50cm, control device temporarily ceases drive device advance；
Second obstacle sensor, it whether there is barrier and drive device and barrier for detecting front on the left of robot
Distance and bearing angle；
3rd obstacle sensor, it whether there is barrier and drive device and barrier for detecting front on the right side of robot
Distance and bearing angle；
3）Control device passes according to the first detection of obstacles sensor, the second detection of obstacles sensor and the 3rd detection of obstacles
Sensor control drive device moves toward the direction of the farthest new barrier of distance, until oriented detection portion can't detect former barrier
Untill, then proceed to advance toward the direction for needing to advance.
When the second detection of obstacles sensor and the 3rd detection of obstacles sensor are detected in front of left side front and right side
When barrier is respectively provided with 30cm, control device controls the first steering wheel arch of a swing support plate to increase investigative range.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, it should all be included within the scope of the present invention.
Claims (10)
- A kind of 1. robot, it is characterised in that：Including control device, drive device and avoidance detection means, the avoidance detection Device includes activity detection portion and oriented detection portion, and the activity detection portion includes arc support plate, the first detection of obstacles Sensor, the second obstacle sensor, the 3rd obstacle sensor and the first steering wheel, the first detection of obstacles sensor position In the middle part of arc support plate, the second detection of obstacles sensor is located at the left end of arc support plate, the 3rd obstacle quality testing The right-hand member that sensor is located at arc support plate is surveyed, steering wheel disk is installed on first steering wheel, first steering wheel fills positioned at driving Put above, first steering wheel is fixedly connected with drive device, and the steering wheel disk is connected with drive link, the drive link end and arc Shape support plate is fixedly connected, and the arc support plate is suspended on before drive device by drive link, and the oriented detection portion includes Second steering wheel and infrared distance measuring are fixedly connected from sensor, the infrared distance measuring from sensor with the rotating shaft of the second steering wheel.
- A kind of 2. robot according to claim 1, it is characterised in that：The first detection of obstacles sensor, second Obstacle sensor and the 3rd obstacle sensor are embedded in the setting of arc support plate.
- A kind of 3. robot according to claim 2, it is characterised in that：The arc support plate is hollow setting.
- A kind of 4. robot according to claim 3, it is characterised in that：The infrared distance measuring is provided below from sensor There is screw thread, the screw thread bonds from sensor with infrared distance measuring, is provided with the rotating shaft of second steering wheel and matches with screw thread To external screw thread, second steering wheel connected from sensor with infrared distance measuring by screw thread with external screw thread.
- A kind of 5. robot according to claim 4, it is characterised in that：The drive link and arc support plate mortise-tenon joint.
- A kind of 6. robot according to claim 5, it is characterised in that：Yielding rubber is provided with the arc support plate Pad, the buffer rubber gasket are located at the surface of the first detection of obstacles sensor, and the buffer rubber gasket glues with arc support plate Close.
- A kind of 7. robot according to claim 6, it is characterised in that：The drive link includes first paragraph bar and second Section bar, is provided with the jack to match with second segment bar on the first paragraph bar, is provided with the jack to pushing up wavy spring, In the second segment bar insertion jack, the second segment bar and first paragraph bar to the both ends for pushing up wavy spring respectively with bonding.
- A kind of 8. robot according to claim 7, it is characterised in that：First steering wheel is embedded in drive device and set Put.
- 9. a kind of barrier-avoiding method of robot, it is characterised in that comprise the following steps：1）Detect in the direction that oriented detection portion needs to advance to drive device；2）Once oriented detection portion, which detects, barrier in direction of advance 50-100cm, then signal is fed back into control device, The first detection of obstacles sensor, the second obstacle sensor, the 3rd obstacle sensor is opened to be detected, and by after detection Feedback of the information to control device, wherein：First detection of obstacles sensor, it whether there is barrier and drive device and obstacle immediately ahead of robot for detecting The distance and bearing angle of thing, when the first detection of obstacles sensor and oriented detection portion are detected and detected with oriented detection portion Obstacle distance signal is then fed back into control device when being less than 50cm, control device temporarily ceases drive device advance；Second obstacle sensor, it whether there is barrier and drive device and barrier for detecting front on the left of robot Distance and bearing angle；3rd obstacle sensor, it whether there is barrier and drive device and barrier for detecting front on the right side of robot Distance and bearing angle；3）Control device passes according to the first detection of obstacles sensor, the second detection of obstacles sensor and the 3rd detection of obstacles Sensor control drive device moves toward the direction of the farthest new barrier of distance, until oriented detection portion can't detect former barrier Untill, then proceed to advance toward the direction for needing to advance.
- A kind of 10. barrier-avoiding method of robot according to claim 9, it is characterised in that：When the second detection of obstacles passes When sensor and the 3rd detection of obstacles sensor detect left side front with barrier is respectively provided with 30cm in front of right side, control dress Put the first steering wheel arch of a swing support plate of control and increase investigative range.
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| CN201710907002.2A CN107765689B (en) | 2017-09-29 | 2017-09-29 | A kind of robot and its barrier-avoiding method |
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| CN201710907002.2A CN107765689B (en) | 2017-09-29 | 2017-09-29 | A kind of robot and its barrier-avoiding method |
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| CN107765689B CN107765689B (en) | 2018-10-12 |
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| CN117406758A (en) * | 2023-12-14 | 2024-01-16 | 双擎科技(杭州)有限公司 | Robot obstacle avoidance device and robot intelligent anti-collision system |
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| CN108508904A (en) * | 2018-07-05 | 2018-09-07 | 山西拓普牛物联网科技股份有限公司 | A kind of sensor device applied on Intelligent robot for sweeping floor and control method |
| CN109901583A (en) * | 2019-03-21 | 2019-06-18 | 创泽智能机器人股份有限公司 | A kind of robot barrier analyte detection and path adjust system |
| CN117406758A (en) * | 2023-12-14 | 2024-01-16 | 双擎科技(杭州)有限公司 | Robot obstacle avoidance device and robot intelligent anti-collision system |
| CN117406758B (en) * | 2023-12-14 | 2024-03-12 | 双擎科技(杭州)有限公司 | Robot obstacle avoidance device and robot intelligent anti-collision system |
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| CN107765689B (en) | 2018-10-12 |
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