CN108136582A - 一种自动探测和规避障碍物的机器人 - Google Patents

一种自动探测和规避障碍物的机器人 Download PDF

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Publication number
CN108136582A
CN108136582A CN201680060365.0A CN201680060365A CN108136582A CN 108136582 A CN108136582 A CN 108136582A CN 201680060365 A CN201680060365 A CN 201680060365A CN 108136582 A CN108136582 A CN 108136582A
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China
Prior art keywords
robot
speed
obstacle
distance
distance value
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CN201680060365.0A
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English (en)
Inventor
苏明珠
林华山
覃国秘
刘波
陈阳
李万建
钟志威
韩仲亮
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Shenzhen Saiyi Technology Development Co Ltd
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Shenzhen Saiyi Technology Development Co Ltd
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Application filed by Shenzhen Saiyi Technology Development Co Ltd filed Critical Shenzhen Saiyi Technology Development Co Ltd
Publication of CN108136582A publication Critical patent/CN108136582A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自动探测和规避障碍物的机器人，其包括速度输出模块(101)探测机器人行进的速度；传感器探测模块(102)探测机器人与障碍物的距离，对距离值进行排序，与障碍物第一近的距离排序为第一距离值、第二近的距离为第二距离值，传感器探测模块(102)根据行进的速度和第一距离值，得到障碍物的运动速度和运动方向的计算参数；控制模块(103)根据计算参数和速度参数值，结合三角形公式，计算出障碍物的移动速度和方向，判断障碍物是否会与机器人撞上，判断出机器人会与障碍物撞上时，控制速度输出模块(101)调整机器人行进的速度来规避障碍物，从而达到实现使行进中的机器人能自动探测和规避移动中的障碍物，成本低廉、自动化程度高，易于推广。

Description

PCT国内申请，说明书已公开。

Claims (9)

  1. PCT国内申请，权利要求书已公开。
CN201680060365.0A 2016-07-29 2016-07-29 一种自动探测和规避障碍物的机器人 Pending CN108136582A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/092240 WO2018018596A1 (zh) 2016-07-29 2016-07-29 一种自动探测和规避障碍物的机器人

Publications (1)

Publication Number Publication Date
CN108136582A true CN108136582A (zh) 2018-06-08

Family

ID=61015716

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680060365.0A Pending CN108136582A (zh) 2016-07-29 2016-07-29 一种自动探测和规避障碍物的机器人

Country Status (2)

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CN (1) CN108136582A (zh)
WO (1) WO2018018596A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113110413A (zh) * 2021-03-10 2021-07-13 成都永奉科技有限公司 跟随机器人以及跟随控制方法、跟随控制系统
CN114871000A (zh) * 2022-04-26 2022-08-09 鞍钢集团矿业有限公司 一种浮选加药自适应调控方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109828574B (zh) * 2019-02-22 2022-05-03 深兰机器人(上海)有限公司 一种避障方法及电子设备
CN112445209A (zh) * 2019-08-15 2021-03-05 纳恩博（北京）科技有限公司 机器人的控制方法和机器人、存储介质及电子装置

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US6574536B1 (en) * 1996-01-29 2003-06-03 Minolta Co., Ltd. Moving apparatus for efficiently moving on floor with obstacle
CN101971116A (zh) * 2008-02-07 2011-02-09 丰田自动车株式会社 自动移动体及其控制方法、以及控制系统
CN102782600A (zh) * 2009-11-27 2012-11-14 丰田自动车株式会社 自动移动体及其控制方法
CN105094127A (zh) * 2014-05-15 2015-11-25 Lg电子株式会社 吸尘器及其控制方法
CN105167716A (zh) * 2015-08-21 2015-12-23 王震渊 一种智能扫地机器人
CN105223956A (zh) * 2015-11-09 2016-01-06 中山大学 一种全向移动机器人的动态避障方法

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JP4432912B2 (ja) * 2006-02-07 2010-03-17 富士通株式会社 ロボットの移動制御方法、および移動ロボット
JP4717105B2 (ja) * 2008-08-29 2011-07-06 株式会社日立製作所 自律移動ロボット装置及びかかる装置における飛び出し衝突回避方法
CN103018742A (zh) * 2012-12-06 2013-04-03 广州视声电子科技有限公司 一种处于移动状态物体的防碰撞保护方法
CN104216409A (zh) * 2014-09-04 2014-12-17 北京工业大学 基于模糊控制的两轮自平衡机器人避障系统及控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6574536B1 (en) * 1996-01-29 2003-06-03 Minolta Co., Ltd. Moving apparatus for efficiently moving on floor with obstacle
CN101971116A (zh) * 2008-02-07 2011-02-09 丰田自动车株式会社 自动移动体及其控制方法、以及控制系统
CN102782600A (zh) * 2009-11-27 2012-11-14 丰田自动车株式会社 自动移动体及其控制方法
CN105094127A (zh) * 2014-05-15 2015-11-25 Lg电子株式会社 吸尘器及其控制方法
CN105167716A (zh) * 2015-08-21 2015-12-23 王震渊 一种智能扫地机器人
CN105223956A (zh) * 2015-11-09 2016-01-06 中山大学 一种全向移动机器人的动态避障方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113110413A (zh) * 2021-03-10 2021-07-13 成都永奉科技有限公司 跟随机器人以及跟随控制方法、跟随控制系统
CN114871000A (zh) * 2022-04-26 2022-08-09 鞍钢集团矿业有限公司 一种浮选加药自适应调控方法
CN114871000B (zh) * 2022-04-26 2023-08-11 鞍钢集团矿业有限公司 一种浮选加药自适应调控方法

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Application publication date: 20180608