CN108594264A - 障碍物识别方法、系统及具有障碍物识别功能的机器人 - Google Patents
障碍物识别方法、系统及具有障碍物识别功能的机器人 Download PDFInfo
- Publication number
- CN108594264A CN108594264A CN201810403092.6A CN201810403092A CN108594264A CN 108594264 A CN108594264 A CN 108594264A CN 201810403092 A CN201810403092 A CN 201810403092A CN 108594264 A CN108594264 A CN 108594264A
- Authority
- CN
- China
- Prior art keywords
- laser
- cluster
- reflection point
- pip
- laser reflection
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
Description
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810403092.6A CN108594264B (zh) | 2018-04-28 | 2018-04-28 | 障碍物识别方法、系统及具有障碍物识别功能的机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810403092.6A CN108594264B (zh) | 2018-04-28 | 2018-04-28 | 障碍物识别方法、系统及具有障碍物识别功能的机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108594264A true CN108594264A (zh) | 2018-09-28 |
CN108594264B CN108594264B (zh) | 2021-10-22 |
Family
ID=63620071
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810403092.6A Active CN108594264B (zh) | 2018-04-28 | 2018-04-28 | 障碍物识别方法、系统及具有障碍物识别功能的机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108594264B (zh) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109633676A (zh) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | 一种基于激光雷达侦测障碍物运动方向的方法及系统 |
CN109633685A (zh) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | 一种基于激光雷达侦测障碍物状态的方法及系统 |
CN110543169A (zh) * | 2019-08-16 | 2019-12-06 | 深圳优地科技有限公司 | 机器人避障方法、装置、机器人及存储介质 |
WO2020186420A1 (zh) * | 2019-03-18 | 2020-09-24 | 深圳市大疆创新科技有限公司 | 一种目标检测方法、设备、毫米波雷达及可移动平台 |
CN111722196A (zh) * | 2019-03-19 | 2020-09-29 | 富士通株式会社 | 雷达反射点提取方法和装置 |
CN112294197A (zh) * | 2020-11-04 | 2021-02-02 | 深圳市普森斯科技有限公司 | 扫地机的清扫控制方法、电子装置及存储介质 |
CN113281775A (zh) * | 2021-05-26 | 2021-08-20 | 珠海市一微半导体有限公司 | 一种基于激光扫描信息的充电座定位方法、芯片及机器人 |
CN113640827A (zh) * | 2021-08-02 | 2021-11-12 | 安徽皖仪科技股份有限公司 | 一种激光雷达自动避障系统及自动避障方法 |
US20220371545A1 (en) * | 2021-05-18 | 2022-11-24 | Ford Global Technologies, Llc | Systems and methods for providing security to a vehicle |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104931977A (zh) * | 2015-06-11 | 2015-09-23 | 同济大学 | 一种用于智能车辆的障碍物识别方法 |
KR20160000162A (ko) * | 2014-06-24 | 2016-01-04 | 주식회사 네오텍 | 안내용 서비스 로봇의 자율주행 방법 |
CN105866790A (zh) * | 2016-04-07 | 2016-08-17 | 重庆大学 | 一种考虑激光发射强度的激光雷达障碍物识别方法及系统 |
CN107179768A (zh) * | 2017-05-15 | 2017-09-19 | 上海木爷机器人技术有限公司 | 一种障碍物识别方法及装置 |
US20170308086A1 (en) * | 2015-08-17 | 2017-10-26 | X Development Llc | Using Laser Sensors to Augment Stereo Sensor Readings for Robotic Devices |
CN107562048A (zh) * | 2017-08-08 | 2018-01-09 | 浙江工业大学 | 一种基于激光雷达的动态避障控制方法 |
-
2018
- 2018-04-28 CN CN201810403092.6A patent/CN108594264B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20160000162A (ko) * | 2014-06-24 | 2016-01-04 | 주식회사 네오텍 | 안내용 서비스 로봇의 자율주행 방법 |
CN104931977A (zh) * | 2015-06-11 | 2015-09-23 | 同济大学 | 一种用于智能车辆的障碍物识别方法 |
US20170308086A1 (en) * | 2015-08-17 | 2017-10-26 | X Development Llc | Using Laser Sensors to Augment Stereo Sensor Readings for Robotic Devices |
CN105866790A (zh) * | 2016-04-07 | 2016-08-17 | 重庆大学 | 一种考虑激光发射强度的激光雷达障碍物识别方法及系统 |
CN107179768A (zh) * | 2017-05-15 | 2017-09-19 | 上海木爷机器人技术有限公司 | 一种障碍物识别方法及装置 |
CN107562048A (zh) * | 2017-08-08 | 2018-01-09 | 浙江工业大学 | 一种基于激光雷达的动态避障控制方法 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109633676A (zh) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | 一种基于激光雷达侦测障碍物运动方向的方法及系统 |
CN109633685A (zh) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | 一种基于激光雷达侦测障碍物状态的方法及系统 |
WO2020186420A1 (zh) * | 2019-03-18 | 2020-09-24 | 深圳市大疆创新科技有限公司 | 一种目标检测方法、设备、毫米波雷达及可移动平台 |
CN111722196A (zh) * | 2019-03-19 | 2020-09-29 | 富士通株式会社 | 雷达反射点提取方法和装置 |
CN110543169A (zh) * | 2019-08-16 | 2019-12-06 | 深圳优地科技有限公司 | 机器人避障方法、装置、机器人及存储介质 |
CN110543169B (zh) * | 2019-08-16 | 2022-05-24 | 深圳优地科技有限公司 | 机器人避障方法、装置、机器人及存储介质 |
CN112294197A (zh) * | 2020-11-04 | 2021-02-02 | 深圳市普森斯科技有限公司 | 扫地机的清扫控制方法、电子装置及存储介质 |
US20220371545A1 (en) * | 2021-05-18 | 2022-11-24 | Ford Global Technologies, Llc | Systems and methods for providing security to a vehicle |
US11919479B2 (en) * | 2021-05-18 | 2024-03-05 | Ford Global Technologies, Llc | Systems and methods for providing security to a vehicle |
CN113281775A (zh) * | 2021-05-26 | 2021-08-20 | 珠海市一微半导体有限公司 | 一种基于激光扫描信息的充电座定位方法、芯片及机器人 |
CN113640827A (zh) * | 2021-08-02 | 2021-11-12 | 安徽皖仪科技股份有限公司 | 一种激光雷达自动避障系统及自动避障方法 |
CN113640827B (zh) * | 2021-08-02 | 2024-02-09 | 安徽皖仪科技股份有限公司 | 一种激光雷达自动避障系统及自动避障方法 |
Also Published As
Publication number | Publication date |
---|---|
CN108594264B (zh) | 2021-10-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108594264A (zh) | 障碍物识别方法、系统及具有障碍物识别功能的机器人 | |
CN106872995B (zh) | 一种激光雷达探测方法及装置 | |
US10620636B2 (en) | Method of identifying functional region in 3-dimensional space, and robot implementing the method | |
CN107089599B (zh) | 基于集装箱箱区轮廓三维识别的吊具安全防撞系统及方法 | |
CN106125087B (zh) | 基于激光雷达的舞蹈机器人室内行人跟踪方法 | |
KR102326077B1 (ko) | 3차원 공간의 이동 객체를 식별하는 방법 및 이를 구현하는 로봇 | |
KR100565227B1 (ko) | 이동로봇의 위치인식장치 및 방법 | |
KR100523367B1 (ko) | 장해물 회피기능을 가지는 자율이동장치 | |
Mertz et al. | Moving object detection with laser scanners | |
US9046893B2 (en) | Deep lane navigation system for automatic guided vehicles | |
CN110147106A (zh) | 具激光和视觉融合避障系统的智能移动服务机器人 | |
US20170227629A1 (en) | Apparatus and methods for dimensioning an object carried by a vehicle moving in a field of measurement | |
US20100060453A1 (en) | Article management system and method thereof | |
CN109870705A (zh) | 基于激光雷达的边界目标标识方法及装置 | |
JP6064674B2 (ja) | 物体認識装置 | |
US11776152B2 (en) | Mobile apparatus obstacle detection system, mobile apparatus, and ground-sweeping robot | |
CN111856507B (zh) | 一种环境感测实现方法、智能移动设备和存储介质 | |
CN109001757A (zh) | 一种基于2d激光雷达的车位智能检测方法 | |
CN109683619A (zh) | 一种基于图形参数化的机器人路径规划方法及系统 | |
US20230334778A1 (en) | Generating mappings of physical spaces from point cloud data | |
CN110471086A (zh) | 一种雷达测障系统及方法 | |
CN112150805A (zh) | 一种可行驶区域的确定方法、装置、设备及存储介质 | |
US20200064481A1 (en) | Autonomous mobile device, control method and storage medium | |
JP3648604B2 (ja) | 自律移動装置 | |
CN107505027A (zh) | 反射微波屏障 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | 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 |
Address after: 200335 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai zhihuilin Medical Technology Co.,Ltd. Address before: 200335 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: Shanghai Zhihui Medical Technology Co.,Ltd. Address after: 200335 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai Zhihui Medical Technology Co.,Ltd. Address before: 200335 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. |
|
CB02 | Change of applicant information | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210922 Address after: 200335 Room 401, floor 4, building 2, No. 33, Guangshun Road, Changning District, Shanghai Applicant after: Noah robot technology (Shanghai) Co.,Ltd. Address before: 200335 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: Shanghai zhihuilin Medical Technology Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant |