CN110244740A - The method that climbing robot patrols side with dibit displacement sensor - Google Patents
The method that climbing robot patrols side with dibit displacement sensor Download PDFInfo
- Publication number
- CN110244740A CN110244740A CN201910569058.0A CN201910569058A CN110244740A CN 110244740 A CN110244740 A CN 110244740A CN 201910569058 A CN201910569058 A CN 201910569058A CN 110244740 A CN110244740 A CN 110244740A
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- measured value
- displacement sensor
- measuring device
- foot
- 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
- 230000009194 climbing Effects 0.000 title claims abstract description 67
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 27
- 239000010959 steel Substances 0.000 claims description 27
- 238000010276 construction Methods 0.000 claims description 23
- 229910017435 S2 In Inorganic materials 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 9
- 210000001699 lower leg Anatomy 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of methods that climbing robot dibit displacement sensor patrols side, are related to robotic technology field, for making climbing robot keep preset correct direction walking.The method that climbing robot dibit displacement sensor of the invention patrols side, by judging whether the first measured value can satisfy the first preset condition, the foot of climbing robot can be made to remain on preset correct direction (track) to walk, so as to avoid the generation of case accident；, compared to the mode for the image that traditional video camera acquires, the treatment process that data are changed into numeric data, therefore its at low cost, high reliablity can be omitted directly into being analyzed the numeric data of acquisition, being handled in the first measuring device simultaneously.
Description
Technical field
The present invention relates to robotic technology fields, and particularly a kind of climbing robot patrols side with dibit displacement sensor
Method.
Background technique
Energization, the power-off of the foot underrun electromagnet of electromagnetic adsorption type climbing robot are realized inhales with steel construction piece
Attached, detachment function, in conjunction with the coordinated movement of various economic factors between each joint of robot, the electromagnet of the foot of robot frequently alternately leads to
Electricity, power-off regularly adsorb under control of the control system with steel construction piece, are detached from, complete climbing motion.
Climbing robot is walked on steel structure surface, due to the form of its mechanical structure, the foozle of robot, fortune
The influence of the factors such as dynamic error, Control system resolution, it may appear that the phenomenon that climbing robot direction of motion deflection, serious Shi Huiying
The normal work of robot is rung, or case accident occurs, thus the movement to climbing robot is needed to carry out correction processing.
Summary of the invention
The present invention provides a kind of method that climbing robot patrols side with dibit displacement sensor, for keeping climbing robot
Preset correct direction walking.
The present invention provides a kind of method that climbing robot dibit displacement sensor patrols side, comprising the following steps:
S1: the first measurement between the first measuring device and steel construction plane that are located at climbing robot foot is obtained respectively
Value and the second measured value between the second measuring device and steel construction plane；
S2: judging whether first measured value and second measured value meet the first preset condition, if so, executing
Step S3；
S3: the climbing robot is made to walk in the steel construction plane；
Wherein, first measuring device is located on one of side of the climbing robot foot, and described
Two measuring devices are located at side opposite with the side in first measuring device.
In one embodiment, in step S2, first preset condition are as follows:
Difference between first measured value and preset value within the error range, and second measured value and pre-
If the difference between value is not within the error range.
In one embodiment, further comprising the steps of:
S4: so that the climbing robot is executed the movement for adjusting foot angle, and repeat step S1.
Wherein, in step s 2, if first measured value and the second measured value are unsatisfactory for first preset condition,
Execute step S4.
In one embodiment, step S4 includes following sub-step:
S41: judging whether first measured value and the second measured value meet the second preset condition, if so, executing step
Rapid S42；
S42: after the skew direction and angle excursion that obtain the climbing robot foot, along opposite with the skew direction
Direction, so that the climbing robot foot is adjusted angle identical with the angle excursion, and repeatedly step S1.
In one embodiment, in step S41, the second preset condition are as follows:
Difference between first measured value and second measured value and preset value within the error range, or
Difference between first measured value and second measured value and preset value is not within the error range.
In one embodiment, first measuring device and second measuring device are along the steel construction plane
Width direction is arranged side by side.
In one embodiment, first measuring device and second measuring device are laser displacement sensing
Device.
Compared with the prior art, the advantages of the present invention are as follows: by whether can to the first measured value and the second measured value
Meet the first preset condition to be judged, the foot of climbing robot can be made to remain at preset correct direction (track)
Upper walking, so as to avoid the generation of case accident；The first measuring device and the second measuring device can be directly into acquisitions simultaneously
Numeric data analyzed, handled, compared to the modes for the image that traditional video camera acquires, data are omitted and are changed into numerical value
The treatment process of data, therefore its at low cost, high reliablity.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.
Fig. 1 is the flow chart for the method that climbing robot dibit displacement sensor patrols side in the embodiment of the present invention；
Fig. 2 is front view when climbing robot foot does not deviate in the embodiment of the present invention；
Fig. 3 is bottom view when climbing robot foot does not deviate in the embodiment of the present invention；
Fig. 4 is view of the Fig. 3 in A to observation；
Fig. 5 is bottom view when climbing robot foot deviates to the left in the embodiment of the present invention；
Fig. 6 is view of the Fig. 5 in A to observation；
Fig. 7 is bottom view when climbing robot foot deviates to the right in the embodiment of the present invention；
Fig. 8 is view of the Fig. 7 in A to observation.
Appended drawing reference:
101- first laser displacement sensor；The first measurement point of Q1-；
102- second laser displacement sensor；The second measurement point of Q2-
201- front foot；The first side 211-；212- second side；202- metapedes；
Shank before 301-；Thigh before 302-；303- fuselage；Thigh after 304-；305- gaskin；
The first joint 401-；402- second joint；403- third joint；The 4th joint 404-；The 5th joint 405-；406-
6th joint；
400- steel construction plane.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
As shown in Figure 1, the present invention provides a kind of method that climbing robot dibit displacement sensor patrols side, including following step
Suddenly.
The first step obtains first between the first measuring device and steel construction plane that are located at climbing robot foot respectively
The second measured value between measured value and the second measuring device and steel construction plane, wherein the first measuring device is located at climbing
On one of side of robot foot section, and the second measuring device is located at side opposite with the side in the first measuring device
Portion.In other words, the second measuring device is located at the outside of the first measuring device.
In one embodiment, the first measuring device is first laser displacement sensor 101, and the first measured value is apart from number
According to.Second measuring device is second laser displacement sensor 102, and the second measured value is range data.
Second step, judges whether the first measured value and the second measured value meet the first preset condition, if so, making climbing machine
Device people walks in steel construction plane.
Specifically, the first preset condition are as follows: the difference between the first measured value and preset value within the error range, and
Difference between second measured value and preset value is not within the error range.
By taking the first side 211 on front foot 201 is provided with the first measuring device and the second measuring device as an example.As Fig. 2-4 institute
Show, the first measuring device is first laser displacement sensor 101, and the second measuring device is second laser displacement sensor 102.The
One laser displacement sensor 101 and second laser displacement sensor 102 are abreast arranged along the width direction of steel construction plane 400
On the first side.As shown in figure 4, that is, its foot does not glance off, then wherein first laser when climbing robot walking is normal
The laser beam of displacement sensor 101 is radiated at can be to obtain range data between the two, to be somebody's turn to do on the surface of steel construction piece
Data are same or similar with preset value (i.e. the difference between the two within the error range)；And second laser displacement sensor 102
Laser beam cannot be irradiated on the surface of this steel construction piece, or be irradiated on other surfaces of component, thus second laser position
The difference of data and preset value that displacement sensor 102 obtains is very big (i.e. the difference between the two not within the error range).So pass through
The range data that first laser displacement sensor 101 and second laser displacement sensor 102 obtain respectively, i.e., to climbing robot
Foot whether be in normal condition and judged.
Third step executes climbing robot if the first measured value and the second measured value are unsatisfactory for the first preset condition
The movement of foot angle is adjusted, and repeats the first step.
Specifically, if the first measured value and the second measured value are unsatisfactory for the first preset condition, show climbing robot
Foot glances off.It needs further to judge its skew direction, that is, judges whether the first measured value and the second measured value meet
Two preset conditions.
Optionally, the second preset condition is, the difference between the first measured value and preset value within the error range, and
Difference between two measured values and preset value is within the error range.That is the first measuring device and the second measuring device are all had to
To setting data or the first measured value and the second measured value be non-setting data, illustrate the foot of robot lateral deviation to the left
Tiltedly.
With the first laser displacement sensor 101 and second laser displacement sensor 102 on front foot 201 on first side 211
For, as it can be seen in figures 5 and 6, wherein be radiated at can be with steel knot for the laser beam of the first laser displacement sensor 101 on front foot 201
On the surface of component, so that range data between the two is obtained, the data (i.e. the difference between the two same or similar with preset value
Within the error range)；And the laser beam of second laser displacement sensor 102 equally can also be irradiated to the table of this steel construction piece
On face, so that the data that second laser displacement sensor 102 obtains are identical or close as preset value, i.e. first laser displacement is passed
Sensor 101 and the first measured value that second laser displacement sensor 102 obtains are identical or close and identical as preset value, then
Show that right side (i.e. towards the direction close to second side described below) deflection occurs for the front foot 201 of climbing robot.
After obtaining the skew direction and angle excursion of climbing robot foot, if right side deflection occurs for front foot 201, then
Along the direction opposite with right side skew direction, even if the front foot 201 of climbing robot adjusts angle identical with angle excursion to the left
Degree, returns to front foot 201 on preset correct direction (track), and repeats the first step.
Optionally, the second preset condition is, the difference between the first measured value and preset value not within the error range, and
Difference between second measured value and preset value is not within the error range.That is the first measured value and the second measured value is identical or phase
Closely, and it is consistent with preset data, then illustrate that right side deflection occurs in robot foot section.
With on 201 first side 211 of front foot first laser displacement sensor 101 and second laser displacement sensor 102 be
Example, as shown in FIG. 7 and 8, wherein cannot be radiated at can be with steel for the laser beam of the first laser displacement sensor 101 on front foot 201
On the surface of structural member, or be irradiated on other surfaces of component, thus first laser displacement sensor 101 obtain data with
The difference of preset value is very big (i.e. the difference between the two not within the error range)；And the laser beam of second laser displacement sensor 102
It can not equally be irradiated on the surface of this steel construction piece, or be irradiated on other surfaces of component, thus second laser position
The difference of data and preset value that displacement sensor 102 obtains is very big (i.e. the difference between the two not within the error range), i.e., first swashs
The first measured value that Optical displacement sensor 101 and second laser displacement sensor 102 obtain it is identical or close and with default value difference
It is very not big, then showing that left side (i.e. towards the direction close to the first side 211) deflection occurs for the front foot 201 of climbing robot.
The operation of metapedes 202 is identical as the operating method of front foot 201, and details are not described herein.
After obtaining the skew direction and angle excursion of climbing robot foot, if left side deflection occurs for front foot 201, then
Along the direction opposite with left side skew direction, even if the front foot 201 of climbing robot adjusts to the right angle identical with angle excursion
Degree, returns to front foot 201 on preset correct direction (track), and repeats the first step.
It should be noted that heretofore described " climbing robot foot " refers to front foot 201 or metapedes 202.
Climbing robot of the invention, the side for using above-mentioned climbing robot vola accurately to contact with steel construction plane
Method is climbed.As Fig. 2-8 embodiment in, it is shown that with 6 joints climbing robot.Climbing machine in the present embodiment
Device people includes foot, leg, fuselage 303 and six joints.Wherein, foot is front foot 201 and metapedes 202；Leg is preceding shank
301, preceding thigh 302, fuselage 303, rear thigh 304 and gaskin 305；Six joints are respectively the first joint 401, second joint
402, third joint, the 4th joint 404, the 5th joint 405 and the 6th joint 406.
Fig. 2-4 shows the state that the foot of climbing robot does not glance off.
By taking front foot 201 as an example, it is provided with 101 He of first laser displacement sensor on first side 211 on front foot 201 respectively
Second laser displacement sensor 102, metapedes 202, which can be used with the symmetrical mode of front foot 201, is arranged laser displacement sensor,
This is repeated no more.
Wherein, the first measurement point Q1 is the measurement point of first laser displacement sensor 101, and the second measurement point Q2 is respectively the
The measurement point of dual-laser displacement sensor 102.
As shown in Fig. 2, the first measurement point Q1 is equal with the distance between vola on 201 first side 211 of front foot, similarly,
Second measurement point Q2 is equal with the distance between vola in second side 212.Metapedes 202 uses identical set-up mode.
Below for having the climbing robot there are six joint shown in Fig. 2-6, method of the invention is carried out detailed
Explanation.
Firstly, passing through first laser displacement sensor 101 and second laser displacement sensing on 201 first side 211 of front foot
Device 102 obtains its first distance data and second distance data between steel construction plane 400 respectively.
Secondly, judging whether first distance data and second distance data meet the first preset condition.
In state as illustrated in Figures 5 and 6, the first preset condition is not satisfied in first distance data and second distance data,
And it is all satisfied the second preset condition (i.e. the first measured value and the second measured value are same or similar and consistent with preset data),
Therefore front foot 201 deviates to the right.
By analyzing, calculating its deviation angle, the automatic correction motion parameter of control system makes the front foot of climbing robot
201 adjust an angle identical with angle excursion to the left, and robot front foot 201 is made to return to preset correct direction (track)
On.
In state as shown in FIG. 7 and 8, the first preset condition is not satisfied in first distance data and second distance data,
And it is all satisfied the second preset condition (i.e. the first measured value and the second measured value be non-setting data), therefore front foot 201 is to the left
Side offset.
By analyzing, calculating its deviation angle, the automatic correction motion parameter of control system makes the front foot of climbing robot
201 adjust to the right an angle identical with angle excursion, and robot front foot 201 is made to return to preset correct direction (track)
On.
After returning in default correct direction, judgement is re-started to the state adjusted of front foot 201.
The judgment method of metapedes 202 is identical as front foot 201, and details are not described herein.
Finally, front foot 201 is made to execute following steps: controller controls joint and rotates so that flat where the vola of front foot 201
Face is parallel with steel construction plane 400.
In conclusion the present invention is two pairs of laser displacement sensors of foot according in climbing robot motion process
Whether measured value is same or similar with preset value to judge whether climbing robot foot shifts.After shifting, that
By measuring, calculating and controlling in real time, under control of the control system, makes each joint coordination movement of climbing robot, come
The angle for adjusting robot foot section, is returned on preset correct direction (track), to make climbing robot vola and steel
Structural plan precise contact, and controlling electromagnet energization can be such that robot foot bottom is firmly adsorbed in steel construction plane.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
Claims (7)
1. a kind of method that climbing robot patrols side with dibit displacement sensor, which comprises the following steps:
S1: respectively obtain be located at climbing robot foot the first measuring device and steel construction plane between the first measured value with
And second the second measured value between measuring device and steel construction plane；
S2: judging whether first measured value and second measured value meet the first preset condition, if so, thening follow the steps
S3；
S3: the climbing robot is made to walk in the steel construction plane；
Wherein, first measuring device is located on one of side of the climbing robot foot, and described second surveys
Amount device is located at side opposite with the side in first measuring device.
2. the method that climbing robot according to claim 1 patrols side with dibit displacement sensor, which is characterized in that step S2
In, first preset condition are as follows:
Difference between first measured value and preset value within the error range, and second measured value and preset value
Between difference not within the error range.
3. the method that climbing robot according to claim 1 or 2 patrols side with dibit displacement sensor, which is characterized in that also
The following steps are included:
S4: so that the climbing robot is executed the movement for adjusting foot angle, and repeat step S1.
Wherein, in step s 2, it if first measured value and the second measured value are unsatisfactory for first preset condition, executes
Step S4.
4. the method that climbing robot according to claim 3 patrols side with dibit displacement sensor, which is characterized in that step S4
Including following sub-step:
S41: judging whether first measured value and the second measured value meet the second preset condition, if so, thening follow the steps
S42；
S42: after the skew direction and angle excursion that obtain the climbing robot foot, along the side opposite with the skew direction
To making the climbing robot foot adjust angle identical with the angle excursion, and repeatedly step S1.
5. the method that climbing robot according to claim 4 patrols side with dibit displacement sensor, which is characterized in that step
In S41, the second preset condition are as follows:
Difference between first measured value and second measured value and preset value within the error range, or
Difference between first measured value and second measured value and preset value is not within the error range.
6. the method that climbing robot according to any one of claims 1-5 patrols side with dibit displacement sensor, feature
It is, first measuring device and second measuring device are arranged side by side along the width direction of the steel construction plane.
7. the method that climbing robot according to any one of claims 1-5 patrols side with dibit displacement sensor, feature
It is, first measuring device and second measuring device are laser displacement sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910569058.0A CN110244740A (en) | 2019-06-27 | 2019-06-27 | The method that climbing robot patrols side with dibit displacement sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910569058.0A CN110244740A (en) | 2019-06-27 | 2019-06-27 | The method that climbing robot patrols side with dibit displacement sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110244740A true CN110244740A (en) | 2019-09-17 |
Family
ID=67889929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910569058.0A Pending CN110244740A (en) | 2019-06-27 | 2019-06-27 | The method that climbing robot patrols side with dibit displacement sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110244740A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102889850A (en) * | 2011-07-18 | 2013-01-23 | 上海热流环境科技有限公司 | Boundary identification method for mowing robot |
| CN205632716U (en) * | 2016-05-30 | 2016-10-12 | 山东漆品汇电子商务有限公司 | Two sufficient formula steel structure building wall climbing robot |
| US20170157775A1 (en) * | 2014-06-25 | 2017-06-08 | Miraikikai, Inc. | Self-propelled robot |
| CN206856828U (en) * | 2017-06-11 | 2018-01-09 | 江苏省特种设备安全监督检验研究院 | Biped climbing robot |
| CN108502042A (en) * | 2018-04-02 | 2018-09-07 | 北京航空航天大学 | A kind of biped magnetic adsorption wall climbing robot |
-
2019
- 2019-06-27 CN CN201910569058.0A patent/CN110244740A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102889850A (en) * | 2011-07-18 | 2013-01-23 | 上海热流环境科技有限公司 | Boundary identification method for mowing robot |
| US20170157775A1 (en) * | 2014-06-25 | 2017-06-08 | Miraikikai, Inc. | Self-propelled robot |
| CN205632716U (en) * | 2016-05-30 | 2016-10-12 | 山东漆品汇电子商务有限公司 | Two sufficient formula steel structure building wall climbing robot |
| CN206856828U (en) * | 2017-06-11 | 2018-01-09 | 江苏省特种设备安全监督检验研究院 | Biped climbing robot |
| CN108502042A (en) * | 2018-04-02 | 2018-09-07 | 北京航空航天大学 | A kind of biped magnetic adsorption wall climbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Gehring et al. | Dynamic trotting on slopes for quadrupedal robots | |
| CN106163771B (en) | Method and system for robot 3D printing | |
| US11780091B2 (en) | Robot control system and robot control method | |
| US20150158181A1 (en) | Robot control apparatus, robot control method, program, recording medium and robot system | |
| EP1486283A1 (en) | Method of controlling the welding of a three-dimensional construction by taking a two-dimensional image of the construction and adjusting in real time in the third dimension | |
| US20130238128A1 (en) | Information processing apparatus and information processing method | |
| CN104002602B (en) | The laser activation device and laser activation method of function are corrected with machining accuracy | |
| CN105359640B (en) | Mounting apparatus and mounting method | |
| JP2015213139A (en) | Positioning device | |
| DE102019101005B4 (en) | Object conveyor system | |
| US20100246899A1 (en) | Method and Apparatus for Dynamic Estimation of Feature Depth Using Calibrated Moving Camera | |
| US10836036B2 (en) | Control device, control system, robot, and robot system | |
| JP2021146499A (en) | System and method for three-dimensional calibration of vision system | |
| CN109591019A (en) | A kind of Space Precision Orientation Method of no certainty location feature object | |
| CN110244740A (en) | The method that climbing robot patrols side with dibit displacement sensor | |
| US7026620B2 (en) | Method and device for the geometrical measurement of a material strip | |
| Prabhu et al. | Digitisation of a moving assembly operation using multiple depth imaging sensors | |
| JP2011143494A (en) | Robot control device and method | |
| Perez-Arancibia et al. | Pitch-angle feedback control of a biologically inspired flapping-wing microrobot | |
| CN103192399A (en) | Micro-vision hand-eye calibration method based on target motion | |
| US20100246893A1 (en) | Method and Apparatus for Nonlinear Dynamic Estimation of Feature Depth Using Calibrated Moving Cameras | |
| Czarnetzki et al. | Applying dynamic walking control for biped robots | |
| CN109542094A (en) | Mobile robot visual point stabilization without desired image | |
| CN107726977A (en) | A kind of position detecting mechanism and method for detecting position | |
| EP3465076A1 (en) | Device for measuring objects |
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: 20190917 |