CN109425352A - 自移动机器人路径规划方法 - Google Patents

自移动机器人路径规划方法 Download PDF

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Publication number
CN109425352A
CN109425352A CN201710743056.XA CN201710743056A CN109425352A CN 109425352 A CN109425352 A CN 109425352A CN 201710743056 A CN201710743056 A CN 201710743056A CN 109425352 A CN109425352 A CN 109425352A
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CN
China
Prior art keywords
self
movement robot
working space
walking
map
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.)
Pending
Application number
CN201710743056.XA
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English (en)
Chinese (zh)
Inventor
汤进举
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to CN201710743056.XA priority Critical patent/CN109425352A/zh
Priority to EP21199359.7A priority patent/EP3950235B1/en
Priority to EP18847907.5A priority patent/EP3672762B1/en
Priority to JP2020508014A priority patent/JP7159291B2/ja
Priority to US16/112,673 priority patent/US20190064832A1/en
Priority to PCT/CN2018/102368 priority patent/WO2019037790A1/en
Publication of CN109425352A publication Critical patent/CN109425352A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Databases & Information Systems (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Manipulator (AREA)
CN201710743056.XA 2017-08-25 2017-08-25 自移动机器人路径规划方法 Pending CN109425352A (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201710743056.XA CN109425352A (zh) 2017-08-25 2017-08-25 自移动机器人路径规划方法
EP21199359.7A EP3950235B1 (en) 2017-08-25 2018-08-25 Self-propelled robot path planning method, self-propelled robot and storage medium
EP18847907.5A EP3672762B1 (en) 2017-08-25 2018-08-25 Self-propelled robot path planning method, self-propelled robot and storage medium
JP2020508014A JP7159291B2 (ja) 2017-08-25 2018-08-25 自律移動ロボットの経路計画方法、自律移動ロボット及び記憶媒体
US16/112,673 US20190064832A1 (en) 2017-08-25 2018-08-25 Self-propelled robot path planning method, self-propelled robot and storage medium
PCT/CN2018/102368 WO2019037790A1 (en) 2017-08-25 2018-08-25 AUTOMOTIVE ROBOT TRACK PLANNING METHOD, AUTOMOTIVE ROBOT, AND INFORMATION CARRIER

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710743056.XA CN109425352A (zh) 2017-08-25 2017-08-25 自移动机器人路径规划方法

Publications (1)

Publication Number Publication Date
CN109425352A true CN109425352A (zh) 2019-03-05

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Family Applications (1)

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CN201710743056.XA Pending CN109425352A (zh) 2017-08-25 2017-08-25 自移动机器人路径规划方法

Country Status (5)

Country Link
US (1) US20190064832A1 (https=)
EP (2) EP3950235B1 (https=)
JP (1) JP7159291B2 (https=)
CN (1) CN109425352A (https=)
WO (1) WO2019037790A1 (https=)

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CN111265158A (zh) * 2020-02-27 2020-06-12 惠州拓邦电气技术有限公司 清洁设备的行走路径规划方法与清洁设备
CN111811517A (zh) * 2020-07-15 2020-10-23 中国科学院上海微系统与信息技术研究所 一种动态局部路径规划方法及系统
CN112578777A (zh) * 2019-09-27 2021-03-30 苏州宝时得电动工具有限公司 自主机器人及其行走路径规划方法、装置和存储介质
CN113616836A (zh) * 2020-05-09 2021-11-09 青岛海尔智能技术研发有限公司 杀菌方法、系统、终端和可读存储介质
WO2022052100A1 (en) * 2020-09-14 2022-03-17 Robert Bosch Gmbh Method and apparatus for planning a path for a mobile object
WO2022133697A1 (zh) * 2020-12-22 2022-06-30 北京洛必德科技有限公司 移动机器人地图构建方法、装置、计算机设备和存储介质

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JP2020154764A (ja) * 2019-03-20 2020-09-24 東芝テック株式会社 情報処理装置及び読取システム
JP7340350B2 (ja) * 2019-05-07 2023-09-07 東芝テック株式会社 情報処理装置及び情報処理方法
CN110376934B (zh) * 2019-06-12 2024-08-23 上海飞科电器股份有限公司 清洁机器人、清洁机器人控制方法及终端控制方法
CN112817269A (zh) * 2019-11-15 2021-05-18 深圳拓邦股份有限公司 一种遍历作业方法、系统及机器人设备
CN111161424B (zh) * 2019-12-30 2023-06-02 浙江欣奕华智能科技有限公司 一种三维地图的确定方法及确定装置
CN110989635A (zh) * 2019-12-31 2020-04-10 浙江欣奕华智能科技有限公司 扫地机器人的清扫方法及扫地机器人
CN111476892B (zh) * 2020-03-09 2022-12-20 珠海格力电器股份有限公司 路径确定方法、装置、终端设备及存储介质
CN113189993B (zh) 2021-04-27 2023-08-29 北京石头创新科技有限公司 一种自行走设备避障方法、装置、介质和电子设备
CN114625116A (zh) * 2021-05-06 2022-06-14 北京石头世纪科技股份有限公司 自行走设备避障方法、装置、介质和电子设备
CN113704963B (zh) * 2021-07-19 2024-04-26 深圳优地科技有限公司 机器人测试方法、系统及机器人
CN116654011B (zh) * 2023-05-22 2026-02-06 惠州市德赛西威汽车电子股份有限公司 一种车辆碰撞检测方法及系统
CN119043348A (zh) * 2023-05-24 2024-11-29 神顶科技（南京）有限公司 一种智能路径规划方法及设备
CN118882659B (zh) * 2024-09-29 2025-01-24 国网浙江省电力有限公司 巡检机器人智能巡检方法及系统

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Publication number Priority date Publication date Assignee Title
CN112578777A (zh) * 2019-09-27 2021-03-30 苏州宝时得电动工具有限公司 自主机器人及其行走路径规划方法、装置和存储介质
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CN111265158B (zh) * 2020-02-27 2021-08-24 惠州拓邦电气技术有限公司 清洁设备的行走路径规划方法与清洁设备
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Also Published As

Publication number Publication date
EP3672762B1 (en) 2021-11-24
EP3672762A4 (en) 2020-10-21
EP3950235A1 (en) 2022-02-09
JP7159291B2 (ja) 2022-10-24
JP2020532786A (ja) 2020-11-12
US20190064832A1 (en) 2019-02-28
WO2019037790A1 (en) 2019-02-28
EP3950235B1 (en) 2023-11-22
EP3672762A1 (en) 2020-07-01

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