CN110146090A - Robot keeps right air navigation aid and the robot of walking - Google Patents
Robot keeps right air navigation aid and the robot of walking Download PDFInfo
- Publication number
- CN110146090A CN110146090A CN201910561210.0A CN201910561210A CN110146090A CN 110146090 A CN110146090 A CN 110146090A CN 201910561210 A CN201910561210 A CN 201910561210A CN 110146090 A CN110146090 A CN 110146090A
- Authority
- CN
- China
- Prior art keywords
- robot
- pixel layer
- coordinate
- boundary pixel
- walking
- 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
- 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
- G01C21/26—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
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of robot and keeps right air navigation aid and the robot of walking, comprising: obtains the guidance path based on road-center；Boundary pixel layer is obtained according to the guidance path, wherein the boundary pixel layer is the regional area for extending default unit to the road-center position along the boundary of the guidance path；The boundary pixel layer is found in robot moving process to the right, and is walked along the extending direction of the boundary pixel layer.The problem of the case where present invention solves robot and walks on relatively narrow road, robs road mutually, occupancy pedestrian walking space.Robot successively keeps right walking, and the robot complementation interference of dealing, the utilization rate and robot for substantially increasing space passes through efficiency.Robot hits wall in order to prevent on map, and wall map is expanded to road-center, forms boundary pixel layer, robot can avoid when planning path by boundary pixel layer, so that robot be avoided to collide barrier in moving process.
Description
Technical field
The present invention relates to robot navigation fields, specifically, keeping right walking navigation side the present invention relates to a kind of robot
Method and robot.
Background technique
During the navigation process, positioning and navigation are all critically important for mobile robot.If there is mistake, or navigation side in navigation
Formula is unreasonable, and more robots is easy to cause to bump against.
Mobile robot during the navigation process, can go out a feasible route according to environmental planning, at present the road of navigation scheme
Diameter planning can be walked using center route.When more machines work at the same time, it may appear that machine robs mutually the case where route,
Cause robot that can not continue to navigate.
According to current technology, if the path planning of robot can encounter following problems using center line walking: 1, more
Platform robot cannot work at the same time: under conditions of road of being expert at is narrow, two robots back and forth can not pass through；2, it can account for
With path resource: robot always in the road between walk, influence walk.
Summary of the invention
The purpose of the present invention is intended at least can solve above-mentioned one of technological deficiency, and it is automatic that open one kind can control robot
Avoidance, the robot for walking of keeping right keep right air navigation aid and the robot of walking.
The present invention provides a kind of robot and keeps right air navigation aid of walking, comprising:
Obtain the guidance path based on road-center；
Boundary pixel layer is obtained according to the guidance path, wherein the boundary pixel layer is along the guidance path
Boundary extends the regional area of default unit to the road-center position；
The boundary pixel layer is found in robot moving process to the right, and along the extending direction of the boundary pixel layer
Walking.
Preferably, the method for obtaining boundary pixel layer according to the guidance path includes:
Obtain the set that the first coordinate of immovable barrier is characterized on the guidance path；
Initial position, which is combined into, with the collection of first coordinate successively obtains second to the default unit of road-center extension
The set of coordinate；
The set of first coordinate is set to the coordinates regional range between the set of the second coordinate as boundary pixel layer.
Preferably, the boundary pixel layer is found in the robot moving process to the right, and along the boundary pixel layer
Extending direction walking method include:
Obtain the robot currently third coordinate position on the guidance path；
Identify the second nearest coordinate of the right side distance of the third coordinate position；
To second coordinate direction to right translation.
Preferably, the boundary pixel layer is found in the robot moving process to the right, and along the boundary pixel layer
Extending direction walking method include:
Obtain the robot currently third coordinate position on the guidance path；
Identify second coordinate of the right side of the third coordinate position in preset range；
While controlling the robot and moved along traffic direction, moved with pre-set velocity to second coordinate direction
It is dynamic.
Preferably, further includes:
Obtain the obstacle position information of the robot moving direction；
Identify the obstacle information whether in the guidance path；
When the obstacle position information is not in the guidance path, preset duration is stopped.
Preferably, further includes:
Judge whether the stay time is more than the preset duration；
When being more than the preset duration, the routing information in the obstacle position information preset range is identified, according to institute
It states routing information and generates avoidance path.
Preferably, the method for the obstacle position information for obtaining the robot moving direction includes:
Obtain the mobile acceleration information of the robot and directional information；
The direction pointed by the directional information monitors the laser data of the acquisition of the laser probe in the robot；
The obstacle position information in the robot movement routine is determined according to the laser data.
On the other hand, a kind of robot, including accelerometer, gyroscope, Laser Detecting Set and processing is also disclosed in the application
Device, the processor configure robot described in above-mentioned any one and keep right air navigation aid of walking, the accelerometer, gyroscope and
Laser Detecting Set is electrically connected communication with processor respectively.
The invention has the benefit that the present invention solves the case where robot walks on relatively narrow road, robs road mutually,
The problem of occupying pedestrian walking space.Robot successively keeps right walking, and the robot complementation interference of dealing substantially increases space
Utilization rate and robot pass through efficiency.Robot hits wall in order to prevent on map, by wall map to road-center
Expansion forms boundary pixel layer, and robot can avoid when planning path by boundary pixel layer, to avoid robot
Upper barrier is collided in moving process.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is that the robot of one embodiment keeps right air navigation aid flow chart of walking；
Fig. 2 is that the guidance path of one embodiment obtains the method schematic diagram of boundary pixel layer；
Fig. 3 be one embodiment robot moving process in find the method flow diagram of the boundary pixel layer to the right；
Fig. 4 is the method flow for finding the boundary pixel layer in another embodiment in robot moving process to the right
Figure；
Fig. 5 is that robot keeps right the flow chart of air navigation aid of walking in one embodiment；
Fig. 6 is the method schematic diagram for the obstacle position information that the present embodiment obtains the robot moving direction；
Fig. 7 is the robot obstacle-avoiding route planning method schematic diagram in one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal device " both include wireless communication
The equipment of number receiver, only has the equipment of the wireless signal receiver of non-emissive ability, and including receiving and emitting hardware
Equipment, have on bidirectional communication link, can execute two-way communication reception and emit hardware equipment.This equipment
It may include: honeycomb or other communication equipments, shown with single line display or multi-line display or without multi-line
The honeycomb of device or other communication equipments；PCS (Personal Communications Service, PCS Personal Communications System), can
With combine voice, data processing, fax and/or communication ability；PDA (Personal Digital Assistant, it is personal
Digital assistants), it may include radio frequency receiver, pager, the Internet/intranet access, web browser, notepad, day
It goes through and/or GPS (Global Positioning System, global positioning system) receiver；Conventional laptop and/or palm
Type computer or other equipment, have and/or the conventional laptop including radio frequency receiver and/or palmtop computer or its
His equipment." terminal " used herein above, " terminal device " can be it is portable, can transport, be mounted on the vehicles (aviation,
Sea-freight and/or land) in, or be suitable for and/or be configured in local runtime, and/or with distribution form, operate in the earth
And/or any other position operation in space.
Those skilled in the art of the present technique are appreciated that remote network devices used herein above comprising but be not limited to count
The cloud that calculation machine, network host, single network server, multiple network server collection or multiple servers are constituted.Here, Yun Youji
It is constituted in a large number of computers or network servers of cloud computing (Cloud Computing), wherein cloud computing is distributed computing
One kind, a super virtual computer consisting of a loosely coupled set of computers.In the embodiment of the present invention, distal end
It can be realized and be communicated by any communication mode between the network equipment, terminal device and WNS server, including but not limited to, is based on
The mobile communication of 3GPP, LTE, WIMAX, based on TCP/IP, the computer network communication of udp protocol and based on bluetooth, infrared
The low coverage wireless transmission method of transmission standard.
The present invention discloses a kind of robot and keeps right air navigation aid of walking, and realizes that robot keeps right the purpose orderly walked.
It keeps right air navigation aid of walking referring to Fig. 1, the present invention discloses a kind of robot, comprising:
S1000, the guidance path based on road-center is obtained；
The technical solution of the application is based on the further improvement in existing robot automatically walk scheme, and robot is certainly
Dynamic walking is according to acquired pre-set navigational path, and preset guidance path is pre-stored current path moving area model
The map enclosed determines the position, obstacle information and moving area information of each region, robot is in its institute according to the map
The moving area information pointed location shown is moved.Robot is moved along guidance path, to reach target position.It needs
To illustrate that the acquisition of guidance path is based on the default map stored, after inputting target position, system it is automatically derived come,
It can be any one path that target position can be moved to from mobile terminal current location, it is preferable that scheme is,
Using the shortest path for capableing of avoiding obstacles as navigation routine.
Further guidance path can also be through robot in moving process, be filled using the detection of obstacles of itself
Set or video identification device obtain routing information.Wherein, obstacle detector includes but is not limited to gyroscope, accelerates
Meter, code-disc, infrared or Laser Detecting Set etc. can acquire the barrier in robot moving process by above-mentioned apparatus
Which region location information can determine for shown robot ambulation according to obstacle position information.
Method by video identification device to acquisite approachs information includes but is not limited to the installation shooting dress with robot
It sets, by identifying the image information of captured moving direction, determines the obstacle information around the robot, and determination can
The position of moving area, moves robot along moving area.
Further, identify that neural network model realization can be used in image information captured by robot, by will be clapped
The road conditions image taken the photograph is input to training into the kind of object and location identification module of convergence state, i.e., exportable current shooting
Position, position of barrier of the removable road of image etc..When obtaining guidance path, then can be identified by the guidance path
The position of the road of the moving area of the guidance path and the position of road-center.
S2000, boundary pixel layer is obtained according to the guidance path, wherein the boundary pixel layer is along the navigation
The boundary in path extends the regional area of default unit to the road-center position；
When obtaining guidance path, then boundary pixel layer can be further acquired according to shown guidance path.It is real one
It applies in example, boundary pixel layer is along the obstacles borders position of the road-center position of the guidance path identified and its edge
Set regional area, in moveable road area, its edge is generally barrier, and barrier here is not limited to wall
Wall, furniture item, also including low-lying position, such as stair, at the hollow not blocked.
When being identified as barrier, then initial position is in the boundary being connect using the barrier with road, Xiang Suoshu road
Center extends, and selectes the region of default cell distance as boundary pixel layer, and default unit here can be centimetre,
It can be rice, reasonable distance is set according to the type of robot and size and shape, for example, being 0.5 with default unit
Rice, then 0.5 meter of the region extended from the edge of barrier to road-center direction are boundary pixel layer.
Specifically, referring to Fig. 2, the method for obtaining boundary pixel layer according to the guidance path includes:
S2100, the set that the first coordinate of immovable barrier is characterized on the guidance path is obtained；
S2200, it is combined into initial position with the collection of first coordinate successively extends default unit to the road-center and obtain
To the set of the second coordinate；
S2300, the set of first coordinate is set to the coordinates regional range between the set of the second coordinate as boundary
Pixel layer.
Barrier is usually object or wall, and therefore, the position that barrier is stopped is a region, about this area
Domain is coordinate set.But in the present embodiment, the set of the first coordinate here refers to the boundary that barrier is connect with road
The coordinate set of line passes through the coordinate set, it is to be understood that the direction of barrier and distance.
Since boundary pixel layer is the regional area for extending default unit to road-center position with the edge of barrier, because
This, the boundary pixel layer has two sides, be on one side with barrier have a common boundary the edge being made of the first coordinate, another side be with
The Edge Distance of first coordinate composition presets the one-to-one boundary of unit, and the coordinate on the boundary is known as the second coordinate, boundary
Line is the set of the second coordinate.
The boundary pixel layer, and prolonging along the boundary pixel layer are found in S3000, robot moving process to the right
Stretch direction walking.
In the present embodiment, robot then starts to find the boundary picture to the right when a certain initial position starts mobile
Plain layer, and walk along the extending direction of the boundary pixel layer, further, referring to Fig. 3, the robot moving process
In find the boundary pixel layer to the right, and include: along the method for the extending direction of boundary pixel layer walking
S3100, the robot currently third coordinate position on the guidance path is obtained；
S3200, the second nearest coordinate of the right side distance of the third coordinate position is identified；
The second coordinate direction of S3300, Xiang Suoshu is to right translation.
Coordinate of the robot identified currently in guidance path is defined as third coordinate position, it is accurate when obtaining
Third coordinate position after, by the mobile direction of the robot, to identify the right side of shown third coordinate position moving direction
The second nearest coordinate of lateral extent, and move right along the second coordinate direction.It should be noted that here move right for
Robot does not move in the direction of movement, but the second coordinate translation for being directed towards proximal most position is gone over.
It should be noted that after obtaining third coordinate position, due to the difference of robot moving direction, two can be generated
A " the right ", for example, a road-center extended along vertical direction, when robot on the road to before vertical direction
Hold in moving process, the right of moving direction and robot on the road into the rear end moving process of vertical direction,
It is two opposite directions on the right of moving direction, is kept right always walking by setting robot, avoid moving back and forth in road
Multiple robots bump against.
In another embodiment, referring to Fig. 4, finding the boundary pixel layer in the robot moving process to the right,
And include: along the method for the extending direction of boundary pixel layer walking
S3400, the robot currently third coordinate position on the guidance path is obtained；
S3500, second coordinate of the right side of the third coordinate position in preset range is identified；
While S3600, the control robot are moved along traffic direction, with pre-set velocity to the second coordinate side
To movement.
In this embodiment, the current position of robot is third coordinate position, is identified when according to robot moving direction
After second coordinate on the right side of third coordinate position, then control shown in robot while being moved along traffic direction, to the
Two coordinate directions are mobile, at this point, robot moving direction and speed are to sit according to third coordinate and with second in preset range
Mark is gathered the path planned again and is calculated.Using such mode, it can make robot while mobile close to boundary pixel
Layer then controls robot prolonging along boundary pixel layer when reaching boundary pixel layer, and when third coordinate is overlapped with the second coordinate
It is mobile to stretch direction, since third coordinate and the first coordinate have at a distance from default unit, can avoid robot and be moved through
Upper barrier is collided in journey, preferably to protect robot.
In one embodiment, robot, which keeps right, walks in navigation procedure, may encounter mobile barrier, these movements
Barrier may before not in preset path, for the fixed object for being not belonging to moving area position, such as passer-by,
Or other robot passed by etc., at this point, the air navigation aid of walking referring to Fig. 5, robot keeps right further include:
S4000, the obstacle position information for obtaining the robot moving direction；
Whether S5000, the identification obstacle information are in the guidance path；
S6000, when the obstacle position information is not in the guidance path, stop preset duration.
When robot on the move meets barrier, the Obstacle Position of the moving direction of shown robot is first obtained
Information, it should be noted that the location information of the barrier obtained herein is the barrier of robot in the direction of movement, and being can
Can be in collision, or the barrier collided, the barrier on other non-moving directions does not need to carry out identification and coordinate
It obtains.
In one embodiment, referring to Fig. 6, the side of the obstacle position information for obtaining the robot moving direction
Method includes:
S4100, the mobile acceleration information of the robot and directional information are obtained；
S4200, the direction pointed by the directional information monitor the laser of the acquisition of the laser probe in the robot
Data；
S4300, the obstacle position information in the robot movement routine is determined according to the laser data.
The information approach that robot obtains barrier is usually to pass through the equipment carried in robot to realize, for example, by using certainly
The routing information that the obstacle detector or video identification device of body obtain.Wherein, obstacle detector includes but not
It is limited to gyroscope, accelerometer, code-disc, infrared or Laser Detecting Set etc., by above-mentioned apparatus, it is mobile that robot can be acquired
Obstacle position information in the process.
In the present embodiment, acceleration information is obtained by accelerometer, directional information by gyroscope obtain, laser data then by
Laser Detecting Set obtains, according to the time and robot for moving along the laser that direction is launched and the laser received
Mobile distance may recognize that the location information of barrier, can determine which region for shown machine according to obstacle position information
Device people walking.
Further, video identification device is also installed, by identifying that the image of captured moving direction is believed in robot
Breath, determines the obstacle information around the robot, the ginseng such as position and size to break the barriers in captured image
Number determines the co-ordinate position information of barrier.
Further, identify that neural network model realization can be used in image information captured by robot, by will be clapped
The road conditions image taken the photograph is input to training into the kind of object and location identification module of convergence state, i.e., exportable current shooting
The position etc. of the barrier of image.
When the location information for obtaining barrier, it is also necessary to judge the barrier whether in preset guidance path,
Judgment method includes but is not limited to the location information according to barrier, compares the same position coordinates in preset guidance path
The case where, if belonging to passage area on same position coordinates in preset guidance path, then it represents that the currently monitored barrier arrived
Hindering object is the movable obstruction being temporarily present on road, and therefore, in one embodiment, controllable robot stops moving immediately
It is dynamic, wait the movable obstruction to remove robot motion direction.Here moving obstacle includes but is not limited to people, animal
Or other robot.
In one embodiment, according to the type of moving obstacle and actual motion speed, a settable robot etc.
To preset duration so that movable obstruction removal after continue along the direction of motion movement.Such as according to human body or machine
The movement speed of device people, setting preset duration are 10 seconds, after robot waits 10 seconds, continue to move.
It further, is when robot is after having stopped preset duration, to start starting and continued to run there are also a kind of situation
Before journey, also right barrier within the scope of the pre-determined distance of current moving direction is still monitored, then it represents that it also needs to continue waiting for,
The waiting time of a preset duration is then continued growing, is unable to operate normally if the waiting time too long, may cause robot, is
Such case is avoided, referring to Fig. 7, in one embodiment further include:
S7000, judge whether the stay time is more than the preset duration；
S8000, when be more than the preset duration, identify the routing information in the obstacle position information preset range,
Avoidance path is generated according to the routing information.
Whether the duration that identification robot is stopped in the same Obstacle Position is more than in the preset duration, when being more than this
Preset duration then indicates that barrier is not removed, and needs to continue waiting for or cannot be removed in the short time, and robot needs
A very long time is waited, therefore, when monitoring that the robot residence time is more than preset duration, then identifies shown Obstacle Position
Routing information in information preset range generates avoidance path according to the routing information, robot is allowed to be continued according to avoidance path
It is moved.
It should be noted that the generating mode in avoidance path includes the location information and region area for obtaining barrier,
According to the region area and location information, continue to generate boundary pixel layer, according to above-mentioned steps control robot along boundary picture
It is moved at plain layer edge.
On the other hand, a kind of robot, including accelerometer, gyroscope, Laser Detecting Set and processing is also disclosed in the application
Device, the processor configure robot described in above-mentioned any one and keep right air navigation aid of walking, the accelerometer, gyroscope and
Laser Detecting Set is electrically connected communication with processor respectively.
It should be understood that although each step in the flow chart of Fig. 1 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, can execute in the other order.Moreover, at least part step in Fig. 1 can
To include that perhaps these sub-steps of multiple stages or stage are not necessarily to execute completion in synchronization to multiple sub-steps,
But can execute at different times, execution sequence is also not necessarily and successively carries out, but can with other steps or
The sub-step or at least part in stage of other steps execute in turn or alternately.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
- The air navigation aid of walking 1. a kind of robot keeps right characterized by comprisingObtain the guidance path based on road-center；Boundary pixel layer is obtained according to the guidance path, wherein the boundary pixel layer is along the boundary of the guidance path Extend the regional area of default unit to the road-center position；The boundary pixel layer is found in robot moving process to the right, and along the extending direction row of the boundary pixel layer It walks.
- The air navigation aid of walking 2. robot shown according to claim 1 keeps right, which is characterized in that described according to the navigation road Diameter obtain boundary pixel layer method include:Obtain the set that the first coordinate of immovable barrier is characterized on the guidance path；Initial position, which is combined into, with the collection of first coordinate successively obtains the second coordinate to the default unit of road-center extension Set；The set of first coordinate is set to the coordinates regional range between the set of the second coordinate as boundary pixel layer.
- The air navigation aid of walking 3. robot according to claim 2 keeps right, which is characterized in that the robot moving process In find the boundary pixel layer to the right, and include: along the method for the extending direction of boundary pixel layer walkingObtain the robot currently third coordinate position on the guidance path；Identify the second nearest coordinate of the right side distance of the third coordinate position；To second coordinate direction to right translation.
- The air navigation aid of walking 4. robot according to claim 2 keeps right, which is characterized in that the robot moving process In find the boundary pixel layer to the right, and include: along the method for the extending direction of boundary pixel layer walkingObtain the robot currently third coordinate position on the guidance path；Identify second coordinate of the right side of the third coordinate position in preset range；It is mobile to second coordinate direction with pre-set velocity while controlling the robot and moved along traffic direction.
- The air navigation aid of walking 5. robot according to any one of claims 1-4 keeps right, which is characterized in that further include:Obtain the obstacle position information of the robot moving direction；Identify the obstacle information whether in the guidance path；When the obstacle position information is not in the guidance path, preset duration is stopped.
- The air navigation aid of walking 6. robot according to claim 5 keeps right, which is characterized in that further include:Judge whether the stay time is more than the preset duration；When being more than the preset duration, the routing information in the obstacle position information preset range is identified, according to the road Diameter information generates avoidance path.
- The air navigation aid of walking 7. robot according to claim 5 keeps right, which is characterized in that described to obtain the robot The method of the obstacle position information of moving direction includes:Obtain the mobile acceleration information of the robot and directional information；The direction pointed by the directional information monitors the laser data of the acquisition of the laser probe in the robot；The obstacle position information in the robot movement routine is determined according to the laser data.
- 8. a kind of robot, which is characterized in that including accelerometer, gyroscope, Laser Detecting Set and processor, the processor Robot described in configuration the claims 1-7 any one keeps right air navigation aid of walking, and the accelerometer, gyroscope and swashs Light detection device is electrically connected communication with processor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910561210.0A CN110146090B (en) | 2019-06-26 | 2019-06-26 | Robot right walking navigation method and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910561210.0A CN110146090B (en) | 2019-06-26 | 2019-06-26 | Robot right walking navigation method and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110146090A true CN110146090A (en) | 2019-08-20 |
| CN110146090B CN110146090B (en) | 2023-04-18 |
Family
ID=67596566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910561210.0A Active CN110146090B (en) | 2019-06-26 | 2019-06-26 | Robot right walking navigation method and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110146090B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110967029A (en) * | 2019-12-17 | 2020-04-07 | 中新智擎科技有限公司 | Picture construction method and device and intelligent robot |
| CN111174758A (en) * | 2020-01-18 | 2020-05-19 | 湖南工学院 | Method for detecting robot no-signal terrain |
| CN113008258A (en) * | 2021-03-02 | 2021-06-22 | 京东鲲鹏(江苏)科技有限公司 | Path planning method, device, equipment and storage medium |
| CN113932825A (en) * | 2021-09-30 | 2022-01-14 | 深圳市普渡科技有限公司 | Robot navigation path width acquisition system, method, robot and storage medium |
| CN117689022A (en) * | 2024-02-04 | 2024-03-12 | 江苏未来网络集团有限公司 | Determination method of optimal rule base for real-time navigation of clinical exploration robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101196403A (en) * | 2006-12-08 | 2008-06-11 | 高德软件有限公司 | Path planning with beforehand turning roadway information |
| WO2008152784A1 (en) * | 2007-06-12 | 2008-12-18 | Panasonic Corporation | Navigation device, navigation method, and navigation program |
| WO2009011295A1 (en) * | 2007-07-18 | 2009-01-22 | Toyota Jidosha Kabushiki Kaisha | Route planning device and method, cost evaluation device and mobile body |
| CN105182976A (en) * | 2015-09-17 | 2015-12-23 | 西北农林科技大学 | Visual navigation strategy of agricultural robot |
| CN108196555A (en) * | 2018-03-09 | 2018-06-22 | 珠海市微半导体有限公司 | The control method that autonomous mobile robot is walked along side |
| CN108398951A (en) * | 2018-03-20 | 2018-08-14 | 广州番禺职业技术学院 | A kind of robot pose measurement method and apparatus combined of multi-sensor information |
| CN109141464A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Navigate lane change reminding method and device |
-
2019
- 2019-06-26 CN CN201910561210.0A patent/CN110146090B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101196403A (en) * | 2006-12-08 | 2008-06-11 | 高德软件有限公司 | Path planning with beforehand turning roadway information |
| WO2008152784A1 (en) * | 2007-06-12 | 2008-12-18 | Panasonic Corporation | Navigation device, navigation method, and navigation program |
| WO2009011295A1 (en) * | 2007-07-18 | 2009-01-22 | Toyota Jidosha Kabushiki Kaisha | Route planning device and method, cost evaluation device and mobile body |
| CN105182976A (en) * | 2015-09-17 | 2015-12-23 | 西北农林科技大学 | Visual navigation strategy of agricultural robot |
| CN108196555A (en) * | 2018-03-09 | 2018-06-22 | 珠海市微半导体有限公司 | The control method that autonomous mobile robot is walked along side |
| CN108398951A (en) * | 2018-03-20 | 2018-08-14 | 广州番禺职业技术学院 | A kind of robot pose measurement method and apparatus combined of multi-sensor information |
| CN109141464A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Navigate lane change reminding method and device |
Non-Patent Citations (2)
| Title |
|---|
| 赵颖等: "基于机器视觉的非结构化道路导航路径检测方法", 《农业机械学报》 * |
| 龙卓群等: "移动机器人躲避多静态障碍物路径智能规划方法", 《自动化与仪器仪表》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110967029A (en) * | 2019-12-17 | 2020-04-07 | 中新智擎科技有限公司 | Picture construction method and device and intelligent robot |
| CN111174758A (en) * | 2020-01-18 | 2020-05-19 | 湖南工学院 | Method for detecting robot no-signal terrain |
| CN111174758B (en) * | 2020-01-18 | 2021-07-16 | 湖南工学院 | Method for detecting robot no-signal terrain |
| CN113008258A (en) * | 2021-03-02 | 2021-06-22 | 京东鲲鹏(江苏)科技有限公司 | Path planning method, device, equipment and storage medium |
| CN113008258B (en) * | 2021-03-02 | 2024-05-17 | 京东鲲鹏(江苏)科技有限公司 | Path planning method, device, equipment and storage medium |
| CN113932825A (en) * | 2021-09-30 | 2022-01-14 | 深圳市普渡科技有限公司 | Robot navigation path width acquisition system, method, robot and storage medium |
| CN113932825B (en) * | 2021-09-30 | 2024-04-09 | 深圳市普渡科技有限公司 | Robot navigation path width acquisition system, method, robot and storage medium |
| CN117689022A (en) * | 2024-02-04 | 2024-03-12 | 江苏未来网络集团有限公司 | Determination method of optimal rule base for real-time navigation of clinical exploration robot |
| CN117689022B (en) * | 2024-02-04 | 2024-05-03 | 江苏未来网络集团有限公司 | Determination method of optimal rule base for real-time navigation of clinical exploration robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110146090B (en) | 2023-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110146090A (en) | Robot keeps right air navigation aid and the robot of walking | |
| US11927960B2 (en) | Control device, control method, and computer program | |
| US11657534B2 (en) | Information processing device, information processing method, and computer program | |
| CN106291535B (en) | A kind of obstacle detector, robot and obstacle avoidance system | |
| JP5747191B2 (en) | Mobile remote control system and control program therefor | |
| CN105270399B (en) | The device and method thereof of vehicle are controlled using vehicle communication | |
| US20160033963A1 (en) | Remote autonomous driving system based on high accuracy of localization by indoor infrastructure map and sensor and method thereof | |
| CN106289290A (en) | A kind of path guiding system and method | |
| CN107291100B (en) | Monitoring method based on unmanned aerial vehicle | |
| WO2019124639A1 (en) | Wireless communication relay system using unmanned device and method therefor | |
| JP6735446B2 (en) | Camera system and its control method, electronic device and its control program | |
| WO2020122583A1 (en) | Moving robot system and control method of the same | |
| WO2016135985A1 (en) | Information providing method, information providing program, information providing device, information processing device, and information providing system | |
| US20140222320A1 (en) | Operating method of road guide system and road guide method of portable device | |
| RU113395U1 (en) | VIDEO SURVEILLANCE SYSTEM FROM VEHICLE IN MOTION | |
| JP6948850B2 (en) | Communication system and communication method | |
| CN114521248A (en) | Information processing apparatus, information processing method, and program | |
| WO2016048238A1 (en) | Method and apparatus for navigation of a robotic device | |
| JP2015162886A (en) | obstacle monitoring system and program | |
| JP2019078617A (en) | Mobility device and method of environment sensing in mobility device | |
| KR101677485B1 (en) | Guide system for blind people | |
| US20240069576A1 (en) | Mobile body, information processing method, and computer program | |
| EP4152119B1 (en) | Collision avoidance | |
| JP2023062219A (en) | Information processing method, information processing device, and computer program | |
| JP2021152478A (en) | Position estimation device, position estimation system, and position estimation 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |