CN109760064A - A kind of method of adjustment and device of mobile robot self-position - Google Patents
A kind of method of adjustment and device of mobile robot self-position Download PDFInfo
- Publication number
- CN109760064A CN109760064A CN201910229339.1A CN201910229339A CN109760064A CN 109760064 A CN109760064 A CN 109760064A CN 201910229339 A CN201910229339 A CN 201910229339A CN 109760064 A CN109760064 A CN 109760064A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- self
- point cloud
- cloud data
- laser
- 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
Links
Abstract
This application discloses the methods of adjustment and device of a kind of mobile robot self-position, and wherein method includes: the first laser point cloud data being reflected by reflector plate got in real time according to first laser radar, obtain the self-positioning information of mobile robot；The third laser point cloud data that the second laser point cloud data and third laser radar got in real time according to second laser radar is got, determines the environmental information of the mobile robot in the direction of movement；It is mobile that the mobile robot is controlled according to the self-positioning information and the environmental information.Mobile robot traveling judgement is carried out by laser radar, the shortcomings that existing vision camera is influenced vulnerable to external environments such as illumination is overcome, can fast and accurately obtain environmental information；It is big using laser radar scanning range simultaneously, solve the small technical problem of existing vision camera scanning range.
Description
Technical field
The application belongs to mobile robot control technical field more particularly to a kind of adjustment of mobile robot self-position
Method and apparatus.
Background technique
Intelligent mobile robot is the product of technical development of computer, is widely used in industrialization scene and life
Every aspect.Mobile robot is the synthesis for integrating the functions such as Context awareness, trajectory planning, behaviour control and execution
System can substitute artificial manual labor in many occasions, greatly improve working efficiency.In the research of mobile robot
In, positioning and environment sensing are its core contents, how to make mobile robot perception ambient enviroment and to self poisoning (following letter
It is referred to as self-positioning), become the research hotspot of current many researchers to adjust self-position.
Recent domestic has carried out some researchs, currently used environment with self-positioning to mobile robot Context awareness
Identification method is by vision camera as sensor, carries out Context awareness by certain image processing algorithm.However, vision
Camera is easy to be influenced by environmental factors such as illumination, so that obtained environmental information is possible to wrong；Vision camera one simultaneously
As scanning range it is smaller, scan efficiency is low.
Therefore it provides a kind of method of adjustment of mobile robot self-position is urgently to be resolved as those skilled in the art
Technical problem.
Summary of the invention
In view of this, this application provides the methods of adjustment and device of a kind of mobile robot self-position, for moving
Position adjustment of the robot in moving process, solves the method for adjustment of existing mobile robot self-position by illumination etc.
The influence of environmental factor and the small technical problem of scanning range.
The application first aspect provides a kind of method of adjustment of mobile robot self-position, comprising:
The first laser point cloud data being reflected by reflector plate got in real time according to first laser radar, obtains moving machine
The self-positioning information of device people；
The second laser point cloud data and third laser radar got in real time according to second laser radar get
Three laser point cloud datas determine the environmental information of the mobile robot in the direction of movement；
It is mobile that the mobile robot is controlled according to the self-positioning information and the environmental information.
Preferably,
The environmental information includes: that there are barriers, obstacle position information；
It is then described to be specifically included according to the self-positioning information and the environmental information control mobile robot movement:
It controls the mobile robot and is moved to the obstacle position information from the corresponding position of the self-positioning information
Behind corresponding position, the mobile robot is braked.
Preferably,
The control mobile robot is moved to the Obstacle Position from the corresponding position of the self-positioning information
Behind the corresponding position of information, before braking the mobile robot further include:
Coordinate conversion is carried out to the second laser point cloud data and the third laser point cloud data；
The second laser point cloud data and the third laser point cloud data after converting respectively to coordinate successively carry out
After denoising, region segmentation and feature extraction, barrier model is obtained；
The barrier model and preset box object model are matched, judge whether the barrier is box
Object.
Preferably,
The environmental information includes: that there is no barriers；
It is then described to be specifically included according to the self-positioning information and the environmental information control mobile robot movement:
The mobile robot is controlled to move on.
Preferably,
The quantity of the reflector is three；
The then first laser point cloud data being reflected by reflector plate got in real time according to first laser radar, obtains
The self-positioning information of mobile robot specifically includes:
The each reflector of real-time reception reflects the first laser point cloud after the laser signal of the first laser radar
Data；
The location information of each reflector is obtained according to the corresponding first laser point cloud data of each reflector, and according to
The location information of all reflectors obtains the self-positioning information of the mobile robot by coordinate calculation formula group.
Preferably,
The second laser radar and the third laser radar are installed on the same outer surface of the mobile robot,
And it is distributed at presetting angle.
The application second aspect provides a kind of adjustment device of mobile robot self-position, comprising:
First determination unit, the first laser point being reflected by reflector plate for being got in real time according to first laser radar
Cloud data obtain the self-positioning information of mobile robot；
Second determination unit, second laser point cloud data and third for being got in real time according to second laser radar swash
The third laser point cloud data that optical radar is got determines the environmental information of the mobile robot in the direction of movement；
Control unit, it is mobile for controlling the mobile robot according to the self-positioning information and the environmental information.
Preferably,
The environmental information includes: that there are barriers, obstacle position information；
Then described control unit is specifically used for, and controls the mobile robot and moves from the corresponding position of the self-positioning information
It moves to the corresponding position of the obstacle position information, brakes the mobile robot.
Preferably,
Further include:
Coordinate transformation unit, for being sat to the second laser point cloud data and the third laser point cloud data
Mark conversion；
Processing unit, for respectively to the second laser point cloud data and the third laser point cloud after coordinate conversion
Data are successively denoised, after region segmentation and feature extraction, and barrier model is obtained；
Matching unit judges the barrier for matching the barrier model and preset box object model
Hinder whether object is box object.
Preferably,
The environmental information includes: that there is no barriers；
Then described control unit is specifically used for, and controls the mobile robot and moves on.
As can be seen from the above technical solutions, the embodiment of the present application has the advantage that
This application provides a kind of methods of adjustment of mobile robot self-position, comprising: in real time according to first laser thunder
Up to the first laser point cloud data being reflected by reflector plate got, the self-positioning information of mobile robot is obtained；Real-time basis
The third laser point cloud data that the second laser point cloud data and third laser radar that second laser radar is got are got, really
The fixed environmental information of the mobile robot in the direction of movement；Institute is controlled according to the self-positioning information and the environmental information
It is mobile to state mobile robot.
In the application, mobile robot traveling judgement is carried out by laser radar, overcomes existing vision camera vulnerable to light
According to etc. external environments influence the shortcomings that, can fast and accurately obtain environmental information；It is big using laser radar scanning range simultaneously,
Solves the small technical problem of existing vision camera scanning range.
Detailed description of the invention
Fig. 1 is a kind of process of the first embodiment of the method for adjustment of mobile robot self-position in the embodiment of the present application
Schematic diagram；
Fig. 2 is a kind of process of the second embodiment of the method for adjustment of mobile robot self-position in the embodiment of the present application
Schematic diagram；
Fig. 3 is a kind of structural schematic diagram of the adjustment device of mobile robot self-position in the embodiment of the present application；
Fig. 4 is a kind of structural schematic diagram of mobile robot in the embodiment of the present application.
Specific embodiment
The embodiment of the present application provides the method for adjustment and device of a kind of mobile robot self-position, for moving machine
Position adjustment of the people in moving process, solves the method for adjustment of existing mobile robot self-position by environment such as illumination
The influence of factor and the small technical problem of scanning range.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
The application first aspect provides a kind of method of adjustment of mobile robot self-position.
Referring to Fig. 1, a kind of first embodiment of the method for adjustment of mobile robot self-position in the embodiment of the present application
Flow diagram, comprising:
Step 101, the first laser point cloud data being reflected by reflector plate got in real time according to first laser radar, obtain
To the self-positioning information of mobile robot.
It should be noted that the first laser point being reflected by reflector plate got in real time according to first laser radar first
Cloud data obtain the self-positioning information of mobile robot.
Step 102, the second laser point cloud data got in real time according to second laser radar and third laser radar obtain
The third laser point cloud data got determines the environmental information of mobile robot in the direction of movement.
It should be noted that while getting Mobile robot self-localization information or before or after, real-time basis
The third laser point cloud data that the second laser point cloud data and third laser radar that second laser radar is got are got, really
Determine the environmental information of mobile robot in the direction of movement.
Step 103 controls mobile robot movement according to self-positioning information and environmental information.
It should be noted that after determining the environmental information on Mobile robot self-localization information and moving direction, according to
Self-positioning information and environmental information control mobile robot are mobile.
In the present embodiment, by laser radar carry out mobile robot advance judgement, overcome existing vision camera vulnerable to
The shortcomings that external environments such as illumination influence, can fast and accurately obtain environmental information；Laser radar scanning range is utilized simultaneously
Greatly, the small technical problem of existing vision camera scanning range is solved.
The above are a kind of first embodiment of the method for adjustment of mobile robot self-position provided by the embodiments of the present application,
The following are a kind of second embodiments of the method for adjustment of mobile robot self-position provided by the embodiments of the present application.
Referring to Fig. 2, a kind of second embodiment of the method for adjustment of mobile robot self-position in the embodiment of the present application
Flow diagram, comprising:
Step 200, three reflectors being mounted on by first laser radar scanning in mobile robot local environment.
In the present embodiment, three be mounted in mobile mobile robot environment by first laser radar scanning first are anti-
Tabula rasa.In order to receive the laser point cloud data after three reflector reflections, as shown in figure 4, first laser radar S1It can
To be mounted on top or the other positions of mobile robot geometric center, it is not specifically limited herein.
Simultaneously it will be appreciated that three reflectors are fixedly mounted on the different location in mobile robot local environment, three
A reflector is not at same plane, and the horizontal plane of first laser radar S1 scanning is within the scope of reflector.
Step 201, three reflectors of real-time reception each reflector reflection first laser radar laser signal after
First laser point cloud data.
In the present embodiment, location information is obtained from by single line laser radar (i.e. first laser radar), is connect in real time first
First laser point cloud data after receiving the laser signal of each reflector reflection first laser radar of three reflectors.
Step 202 obtains the location information of each reflector according to the corresponding first laser point cloud data of each reflector, and
The self-positioning information of mobile robot is obtained by coordinate calculation formula group according to the location information of all reflectors.
In the present embodiment, pass through first laser radar S1Scanning obtains the respective first laser of three reflectors in environment
Point cloud data carries out average value processing to the first laser point cloud data point of three reflectors respectively and obtains three pieces of reflectors in the world
Coordinate points Q under coordinate system1(x1,y1)、Q2(x2,y2) and Q3(x3,y3)。
Under world coordinate system, the coordinate points of this three pieces of reflectors are respectively Q1(x1,y1)、Q2(x2,y2) and Q3(x3,y3),
If first laser radar S1Coordinate points be Ω (x0,y0), first laser can be calculated by following coordinate calculation formula group
Radar S1Coordinate it is as follows:
Wherein, LQ1Ω、LQ2ΩAnd LQ3ΩRespectively first laser radar S1With reflector Q1、Q2And Q3The distance between.
By above-mentioned coordinate calculation formula group, first laser radar S is solved1Coordinate Ω relative to world coordinate system
(x0,y0), and then the location information of mobile robot is obtained, carry out autonomous positioning.
Step 203, the second laser point cloud data got in real time according to second laser radar and third laser radar obtain
The third laser point cloud data got determines the environmental information of mobile robot in the direction of movement.
In the present embodiment, the environmental information on mobile robot moving direction is obtained by double laser radar, specifically: it is first
Second laser radar and third laser radar are first passed through to being scanned on mobile robot moving direction, then second laser thunder
Corresponding second laser point cloud data and third laser point cloud data can be got up to third laser radar, finally according to second
Laser point cloud data and third laser point cloud data determine the environmental information on mobile robot moving direction.
If second laser radar S2Scanning obtained second laser point cloud data is A, third laser radar S3What scanning obtained
Third laser point cloud data is B, can be indicated are as follows: Wherein n is sharp
The point cloud number that optical radar scans.
After obtaining laser point cloud data A and B, by laser point cloud data A and B and range information, two groups are swashed respectively
Luminous point cloud data point carries out average value processing, obtains laser point cloud data A and the respective center point coordinate of BWithPass throughWithBarrier is obtained with respect to second laser radar S2With third laser radar
S3Position coordinatesWithBarrier is converted to relative to world coordinates by D-H coordinate again
The position coordinates of system are finally averaged two groups of coordinates, just obtain coordinate of the barrier geometric center under world coordinate system,
And then barrier is positioned.It can be understood that the conversion of D-H coordinate belongs to the prior art, details are not described herein.In mobile machine
In people's moving process, earth axes are exactly global coordinate system O0x0y0z0, the creation of environmental map is just complete in this coordinate system
At.
It should be noted that second laser radar S as shown in Figure 42With third laser radar S3It may be mounted at mobile machine
It is distributed on people's same plane and at presetting angle, while it is understood that the mounting height of the two laser radars will ensure
It can scan and arrive obstacle information.
Step 204, when environmental information is to control mobile robot from self-positioning there are barrier and obstacle position information
After the corresponding position of information is moved to the corresponding position of obstacle position information, mobile robot is braked.
Step 205 carries out coordinate conversion to second laser point cloud data and third laser point cloud data.
Step 206, respectively to coordinate conversion after second laser point cloud data and third laser point cloud data successively carry out
After denoising, region segmentation and feature extraction, barrier model is obtained.
It should be noted that mobile robot is in the carrying etc. for being frequently utilized for box object, it is therefore desirable to first to box
Article identification carries out coordinate conversion to second laser point cloud data and third laser point cloud data first, then in identification
Respectively to after coordinate conversion second laser point cloud data and third laser point cloud data successively denoised, region segmentation and spy
After sign is extracted, barrier model is obtained.
Step 207 matches barrier model and preset box object model, and whether disturbance in judgement object is box
Object.
It should be noted that after obtaining barrier model, barrier model and the progress of preset box object model
Match, whether disturbance in judgement object is box object.
Step 208, when environmental information is to control mobile robot and move on there is no barrier.
It should be noted that when environmental information is to control mobile robot there is no barrier and move on.It is understood that
, it is empty set that environmental information, which is there is no barrier, that is, laser point cloud data A and B,.
In the present embodiment, by laser radar carry out mobile robot advance judgement, overcome existing vision camera vulnerable to
The shortcomings that external environments such as illumination influence, can fast and accurately obtain environmental information；Laser radar scanning range is utilized simultaneously
Greatly, the small technical problem of existing vision camera scanning range is solved.
The above are a kind of second embodiment of the method for adjustment of mobile robot self-position provided by the embodiments of the present application,
The following are a kind of application examples of the adjustment device of mobile robot self-position provided by the embodiments of the present application.
Referring to Fig. 3, a kind of structural schematic diagram of the adjustment device of mobile robot self-position in the embodiment of the present application,
Include:
First determination unit 301, first be reflected by reflector plate for being got in real time according to first laser radar swash
Light point cloud data obtains the self-positioning information of mobile robot；
Second determination unit 302, the second laser point cloud data for being got in real time according to second laser radar and
The third laser point cloud data that three laser radars are got determines the environmental information of mobile robot in the direction of movement；
Control unit 303, for mobile according to self-positioning information and environmental information control mobile robot.
Further, environmental information includes: that there are barriers, obstacle position information；
Then control unit is specifically used for, and controls mobile robot from the corresponding position of self-positioning information and is moved to obstacle level
After confidence ceases corresponding position, mobile robot is braked.
Further, further includes:
Coordinate transformation unit, for carrying out coordinate conversion to second laser point cloud data and third laser point cloud data；
Processing unit, for respectively to coordinate conversion after second laser point cloud data and third laser point cloud data successively
It is denoised, after region segmentation and feature extraction, obtains barrier model；
Matching unit, for matching barrier model and preset box object model, whether disturbance in judgement object
For box object.
Further, environmental information includes: that there is no barriers；
Then control unit is specifically used for, and control mobile robot moves on.
In the present embodiment, by laser radar carry out mobile robot advance judgement, overcome existing vision camera vulnerable to
The shortcomings that external environments such as illumination influence, can fast and accurately obtain environmental information；Laser radar scanning range is utilized simultaneously
Greatly, the small technical problem of existing vision camera scanning range is solved.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description wait pacify
Electricity grid network is filled, the specific work process of device and unit can refer to corresponding processes in the foregoing method embodiment, herein not
It repeats again.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another electricity grid network to be installed is closed or is desirably integrated into, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic or disk etc. are various can store
The medium of program code.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method of adjustment of mobile robot self-position characterized by comprising
The first laser point cloud data being reflected by reflector plate got in real time according to first laser radar, obtains mobile robot
Self-positioning information；
The third that the second laser point cloud data and third laser radar got in real time according to second laser radar is got swashs
Light point cloud data determines the environmental information of the mobile robot in the direction of movement；
It is mobile that the mobile robot is controlled according to the self-positioning information and the environmental information.
2. the method for adjustment of mobile robot self-position according to claim 1, which is characterized in that the environmental information
It include: that there are barriers, obstacle position information；
It is then described to be specifically included according to the self-positioning information and the environmental information control mobile robot movement:
Controlling the mobile robot, from the corresponding position of the self-positioning information to be moved to the obstacle position information corresponding
Position after, brake the mobile robot.
3. the method for adjustment of mobile robot self-position according to claim 2, which is characterized in that described in the control
After mobile robot is moved to the corresponding position of the obstacle position information from the corresponding position of the self-positioning information, braking
Before the mobile robot further include:
Coordinate conversion is carried out to the second laser point cloud data and the third laser point cloud data；
Respectively to coordinate conversion after the second laser point cloud data and the third laser point cloud data successively denoised,
After region segmentation and feature extraction, barrier model is obtained；
The barrier model and preset box object model are matched, judge whether the barrier is box object
Body.
4. the method for adjustment of mobile robot self-position according to claim 1, which is characterized in that the environmental information
It include: that there is no barriers；
It is then described to be specifically included according to the self-positioning information and the environmental information control mobile robot movement:
The mobile robot is controlled to move on.
5. the method for adjustment of mobile robot self-position according to claim 1, which is characterized in that the reflector
Quantity is three；
The then first laser point cloud data being reflected by reflector plate got in real time according to first laser radar, is moved
The self-positioning information of robot specifically includes:
The each reflector of real-time reception reflects the first laser point cloud data after the laser signal of the first laser radar；
The location information of each reflector is obtained according to the corresponding first laser point cloud data of each reflector, and according to all
The location information of reflector obtains the self-positioning information of the mobile robot by coordinate calculation formula group.
6. the method for adjustment of mobile robot self-position according to claim 5, which is characterized in that the second laser
Radar and the third laser radar are installed on the same outer surface of the mobile robot, and are distributed at presetting angle.
7. a kind of adjustment device of mobile robot self-position characterized by comprising
First determination unit, the first laser point cloud number being reflected by reflector plate for being got in real time according to first laser radar
According to obtaining the self-positioning information of mobile robot；
Second determination unit, second laser point cloud data and third laser thunder for being got in real time according to second laser radar
Up to the third laser point cloud data got, the environmental information of the mobile robot in the direction of movement is determined；
Control unit, it is mobile for controlling the mobile robot according to the self-positioning information and the environmental information.
8. the adjustment device of mobile robot self-position according to claim 7, which is characterized in that the environmental information
It include: that there are barriers, obstacle position information；
Then described control unit is specifically used for, and controls the mobile robot and is moved to from the corresponding position of the self-positioning information
Behind the corresponding position of the obstacle position information, the mobile robot is braked.
9. the adjustment device of mobile robot self-position according to claim 8, which is characterized in that further include:
Coordinate transformation unit turns for carrying out coordinate to the second laser point cloud data and the third laser point cloud data
It changes；
Processing unit, for respectively to the second laser point cloud data and the third laser point cloud data after coordinate conversion
It is successively denoised, after region segmentation and feature extraction, obtains barrier model；
Matching unit judges the barrier for matching the barrier model and preset box object model
It whether is box object.
10. the adjustment device of mobile robot self-position according to claim 7, which is characterized in that the environment letter
Breath includes: that there is no barriers；
Then described control unit is specifically used for, and controls the mobile robot and moves on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910229339.1A CN109760064A (en) | 2019-03-25 | 2019-03-25 | A kind of method of adjustment and device of mobile robot self-position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910229339.1A CN109760064A (en) | 2019-03-25 | 2019-03-25 | A kind of method of adjustment and device of mobile robot self-position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109760064A true CN109760064A (en) | 2019-05-17 |
Family
ID=66459808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910229339.1A Pending CN109760064A (en) | 2019-03-25 | 2019-03-25 | A kind of method of adjustment and device of mobile robot self-position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109760064A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412987A (en) * | 2019-08-21 | 2019-11-05 | 深圳市锐曼智能装备有限公司 | Double excitation positioning navigation method and robot |
| CN111267107A (en) * | 2020-03-23 | 2020-06-12 | 上海高仙自动化科技发展有限公司 | Control method, robot, electronic device, and readable storage medium |
| CN111428578A (en) * | 2020-03-03 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Self-body and positioning method and device thereof |
| CN113126103A (en) * | 2019-12-27 | 2021-07-16 | 苏州一径科技有限公司 | Point cloud processing method and device for retro-reflective object |
| CN113263502A (en) * | 2021-05-31 | 2021-08-17 | 深圳市优必选科技股份有限公司 | Radar data calibration method and device and robot |
| CN113666305A (en) * | 2021-08-31 | 2021-11-19 | 杭州派珞特智能技术有限公司 | Intelligent forklift laser positioning method based on motion compensation and reflecting plate optimized sorting |
| CN113819901A (en) * | 2020-06-19 | 2021-12-21 | 长鑫存储技术有限公司 | Attitude adjusting device and method of optical sensor and automatic material conveying system |
| CN116442286A (en) * | 2023-06-15 | 2023-07-18 | 国网瑞嘉(天津)智能机器人有限公司 | Robot work object positioning system, method, device, robot and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017200351A1 (en) * | 2016-05-20 | 2017-11-23 | 엘지전자 주식회사 | Robot cleaner |
| CN107562048A (en) * | 2017-08-08 | 2018-01-09 | 浙江工业大学 | Dynamic obstacle avoidance control method based on laser radar |
| CN108007451A (en) * | 2017-11-10 | 2018-05-08 | 未来机器人（深圳）有限公司 | Detection method, device, computer equipment and the storage medium of cargo carrying device pose |
| CN108189043A (en) * | 2018-01-10 | 2018-06-22 | 北京飞鸿云际科技有限公司 | A kind of method for inspecting and crusing robot system applied to high ferro computer room |
| CN108932736A (en) * | 2018-05-30 | 2018-12-04 | 南昌大学 | Two-dimensional laser radar Processing Method of Point-clouds and dynamic robot pose calibration method |
| CN108955666A (en) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | A kind of hybrid navigation method, apparatus and system based on laser radar and reflector |
-
2019
- 2019-03-25 CN CN201910229339.1A patent/CN109760064A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017200351A1 (en) * | 2016-05-20 | 2017-11-23 | 엘지전자 주식회사 | Robot cleaner |
| CN107562048A (en) * | 2017-08-08 | 2018-01-09 | 浙江工业大学 | Dynamic obstacle avoidance control method based on laser radar |
| CN108007451A (en) * | 2017-11-10 | 2018-05-08 | 未来机器人（深圳）有限公司 | Detection method, device, computer equipment and the storage medium of cargo carrying device pose |
| CN108189043A (en) * | 2018-01-10 | 2018-06-22 | 北京飞鸿云际科技有限公司 | A kind of method for inspecting and crusing robot system applied to high ferro computer room |
| CN108932736A (en) * | 2018-05-30 | 2018-12-04 | 南昌大学 | Two-dimensional laser radar Processing Method of Point-clouds and dynamic robot pose calibration method |
| CN108955666A (en) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | A kind of hybrid navigation method, apparatus and system based on laser radar and reflector |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412987A (en) * | 2019-08-21 | 2019-11-05 | 深圳市锐曼智能装备有限公司 | Double excitation positioning navigation method and robot |
| CN113126103A (en) * | 2019-12-27 | 2021-07-16 | 苏州一径科技有限公司 | Point cloud processing method and device for retro-reflective object |
| CN113126103B (en) * | 2019-12-27 | 2023-03-10 | 苏州一径科技有限公司 | Point cloud processing method and device for retro-reflective object |
| CN111428578A (en) * | 2020-03-03 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Self-body and positioning method and device thereof |
| CN111267107A (en) * | 2020-03-23 | 2020-06-12 | 上海高仙自动化科技发展有限公司 | Control method, robot, electronic device, and readable storage medium |
| CN111267107B (en) * | 2020-03-23 | 2021-07-02 | 上海高仙自动化科技发展有限公司 | Control method, robot, electronic device, and readable storage medium |
| CN113819901B (en) * | 2020-06-19 | 2023-11-07 | 长鑫存储技术有限公司 | Attitude adjusting device and method of optical sensor and automatic material conveying system |
| CN113819901A (en) * | 2020-06-19 | 2021-12-21 | 长鑫存储技术有限公司 | Attitude adjusting device and method of optical sensor and automatic material conveying system |
| WO2021254066A1 (en) * | 2020-06-19 | 2021-12-23 | 长鑫存储技术有限公司 | Attitude adjustment device and method for optical sensor, and automatic material transportation system |
| US11933719B2 (en) | 2020-06-19 | 2024-03-19 | Changxin Memory Technologies, Inc. | Posture adjustment device and method for optical sensor, and automatic material transport system |
| CN113263502A (en) * | 2021-05-31 | 2021-08-17 | 深圳市优必选科技股份有限公司 | Radar data calibration method and device and robot |
| CN113666305A (en) * | 2021-08-31 | 2021-11-19 | 杭州派珞特智能技术有限公司 | Intelligent forklift laser positioning method based on motion compensation and reflecting plate optimized sorting |
| CN113666305B (en) * | 2021-08-31 | 2023-02-21 | 杭州派珞特智能技术有限公司 | Intelligent forklift laser positioning method based on motion compensation and reflecting plate optimized sorting |
| CN116442286B (en) * | 2023-06-15 | 2023-10-20 | 国网瑞嘉(天津)智能机器人有限公司 | Robot work object positioning system, method, device, robot and medium |
| CN116442286A (en) * | 2023-06-15 | 2023-07-18 | 国网瑞嘉(天津)智能机器人有限公司 | Robot work object positioning system, method, device, robot and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109760064A (en) | A kind of method of adjustment and device of mobile robot self-position | |
| US11842500B2 (en) | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness | |
| CN110097553B (en) | Semantic mapping system based on instant positioning mapping and three-dimensional semantic segmentation | |
| CA2950791C (en) | Binocular visual navigation system and method based on power robot | |
| JP7274674B1 (en) | Performing 3D reconstruction with unmanned aerial vehicle | |
| EP2674913B1 (en) | Three-dimensional object modelling fitting & tracking. | |
| CN111958592B (en) | Image semantic analysis system and method for transformer substation inspection robot | |
| CN110147106A (en) | Has the intelligent Mobile Service robot of laser and vision fusion obstacle avoidance system | |
| CN103049912B (en) | Random trihedron-based radar-camera system external parameter calibration method | |
| CN110415342A (en) | A kind of three-dimensional point cloud reconstructing device and method based on more merge sensors | |
| CN110163930A (en) | Lane line generation method, device, equipment, system and readable storage medium storing program for executing | |
| CN108983248A (en) | It is a kind of that vehicle localization method is joined based on the net of 3D laser radar and V2X | |
| CN106227218A (en) | The navigation barrier-avoiding method of a kind of Intelligent mobile equipment and device | |
| CN106052674A (en) | Indoor robot SLAM method and system | |
| CN102840825B (en) | Particle locating system and method | |
| CN103389699A (en) | Robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes | |
| CN109282808A (en) | Unmanned plane and Multi-sensor Fusion localization method for the detection of bridge Cut-fill | |
| CN114061486A (en) | Automatic measuring device and method for large-scale skin curved surface of airplane | |
| CN113359782B (en) | Unmanned aerial vehicle autonomous addressing landing method integrating LIDAR point cloud and image data | |
| CN106647738A (en) | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle | |
| CN109773783A (en) | A kind of patrol intelligent robot and its police system based on spatial point cloud identification | |
| CN115933754A (en) | Electric power inspection unmanned aerial vehicle obstacle avoidance method based on millimeter wave radar and binocular vision | |
| CN108871409A (en) | A kind of fault detection method and system | |
| CN113860178A (en) | System and method for identifying hoisting object of tower crane and measuring collision information | |
| CN109917670A (en) | It is positioned while a kind of intelligent robot cluster and builds drawing method |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190517 |