CN112518757A - Robot control method, robot, and readable storage medium - Google Patents
Robot control method, robot, and readable storage medium Download PDFInfo
- Publication number
- CN112518757A CN112518757A CN202011498729.8A CN202011498729A CN112518757A CN 112518757 A CN112518757 A CN 112518757A CN 202011498729 A CN202011498729 A CN 202011498729A CN 112518757 A CN112518757 A CN 112518757A
- Authority
- CN
- China
- Prior art keywords
- robot
- task
- mode
- ultra
- target
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robot control method, which comprises the following steps: receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction; determining a communication mode between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations according to the task mode, and determining a routing inspection control mode corresponding to the task mode; and when the at least two ultra-wide band tags are communicated with the plurality of ultra-wide band base stations according to the communication mode, controlling the robot to execute the inspection operation corresponding to the task mode according to the inspection control mode. The invention also discloses a robot and a readable storage medium. Through the communication mode that different task modes correspond and the control mode of patrolling and examining, control robot carries out the operation of patrolling and examining that different task modes correspond for the function of patrolling and examining the robot is more diversified, has improved the flexibility of robot control.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a robot control method, a robot, and a readable storage medium.
Background
The general environment of a wind power plant is relatively hard, most of the wind power plant is in a remote mountain area, people have rare smoke, living conditions and traffic conditions are poor, many workers are reluctant to stay in the wind power plant to work, however, the inspection of various devices and devices in the wind power plant is critical to guarantee the reliable operation and production safety of the devices, and certain workers can be guaranteed. The conventional wind power plant periodic inspection mostly adopts a mode of combining manual inspection and equipment monitoring, but most monitoring equipment has the problems of inaccurate precision and single function. Because the regular inspection process needs standardized operation and has high risk, related personnel need to be trained strictly at regular intervals, and the enterprise cost is increased. Meanwhile, the daily workload of regular inspection is large, and the regular inspection mostly works repeatedly and regularly. With the progress and the intelligent development of the wind power equipment technology, the intelligent inspection robot is used for replacing manual inspection in the wind power plant to become an excellent choice. However, the wind farm inspection robot in the prior art has a single function and cannot meet application requirements under different application scenes.
Disclosure of Invention
The invention mainly aims to provide a robot control method, a robot and a readable storage medium, and aims to solve the problems that in the prior art, a patrol robot has a single function and cannot meet application requirements in different application scenes.
To achieve the above object, the present invention provides a robot control method, including the steps of:
receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction;
determining a communication mode between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations according to the task mode, and determining a routing inspection control mode corresponding to the task mode;
and when the at least two ultra-wide band tags are communicated with the plurality of ultra-wide band base stations according to the communication mode, controlling the robot to execute the inspection operation corresponding to the task mode according to the inspection control mode.
In addition, in order to achieve the above object, the present invention further provides a robot, which includes a memory, a processor and a robot control program stored on the processor and capable of running on the processor, wherein the processor implements the steps of the robot control method when executing the robot control program.
Further, to achieve the above object, the present invention also provides a readable storage medium having stored thereon a robot control program, which when executed by a processor, implements the steps of the robot control method as described above.
The method comprises the steps of receiving a task instruction sent by an upper computer, determining a task mode corresponding to the task instruction, determining a communication mode between at least two ultra-wide band tags arranged on a robot and a plurality of ultra-wide band base stations in an inspection area according to the task mode, determining an inspection control mode corresponding to the task mode, and controlling the robot to execute inspection operation corresponding to the task mode according to the inspection control mode when the at least two ultra-wide band tags and the ultra-wide band base stations communicate according to the communication mode. That is, the robot is controlled to perform the patrol operation corresponding to the task mode through the communication modes corresponding to the different task modes and the patrol control mode, so that the functions of the robot are more diversified, the application requirements under the different task modes can be met, and the flexible control of the patrol robot is realized.
Drawings
FIG. 1 is a schematic diagram of a robot structure in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the robot control method of the present invention;
FIG. 3 is a flowchart illustrating a robot control method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a single UWB tag communicating with three UWB base stations in accordance with an embodiment of the invention;
FIG. 5 is a diagram illustrating a single UWB tag communicating with three UWB base stations, with one UWB base station positioned at the origin of coordinates and the other two UWB base stations positioned at the X-axis and the Y-axis, respectively, in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a single UWB tag communicating with three UWB base stations, with error considerations, in accordance with an embodiment of the invention;
FIG. 7 is a schematic diagram illustrating a calculation of a yaw angle of a robot with respect to a target task point according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating a robot control method according to a third embodiment of the present invention;
FIG. 9 is a diagram illustrating a dual UWB tag communicating with a single UWB base station in a follow mode according to an embodiment of the invention;
fig. 10 is a schematic structural diagram of a robot according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the invention is: receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction; determining a communication mode between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations according to the task mode, and determining a routing inspection control mode corresponding to the task mode; and when the at least two ultra-wide band tags are communicated with the plurality of ultra-wide band base stations according to the communication mode, controlling the robot to execute the inspection operation corresponding to the task mode according to the inspection control mode.
The current inspection robot has single function and cannot meet the application requirements of users in different application scenes. Therefore, the invention provides a robot control method, a robot and a readable storage medium, wherein the robot is controlled to execute inspection operation corresponding to task modes through communication modes and inspection control modes corresponding to different task modes, so that the robot can respond to more task modes and is not limited to a single function, and the flexibility of robot control is improved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the robot may include: a communication bus 1002, a processor 1001, such as a CPU, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the robot configuration shown in fig. 1 does not constitute a limitation of the robot, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
In the robot shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the robot control program stored in the memory 1005 and perform the following operations:
receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction;
determining a communication mode between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations according to the task mode, and determining a routing inspection control mode corresponding to the task mode;
and when the at least two ultra-wide band tags are communicated with the plurality of ultra-wide band base stations according to the communication mode, controlling the robot to execute the inspection operation corresponding to the task mode according to the inspection control mode.
Alternatively, the processor 1001 may call the robot control program stored in the memory 1005, and further perform the following operations:
if the task mode is the navigation mode, determining that the communication mode is as follows: the method comprises the following steps that two ultra-wideband labels arranged on a robot are respectively communicated with three ultra-wideband base stations in a polling area;
if the task mode is the following mode, determining that the communication mode is as follows: and communicating with a target base station corresponding to the task instruction through two ultra-wide band tags arranged on the robot.
Alternatively, the processor 1001 may call the robot control program stored in the memory 1005, and further perform the following operations:
if the task mode is the following mode, determining that the patrol control mode corresponding to the following mode is as follows: controlling the robot to perform inspection operation along with the target base station corresponding to the task instruction;
if the task mode is the navigation mode, determining that the patrol control mode corresponding to the navigation mode is as follows: and controlling the robot to move to a target task point corresponding to the task instruction, and executing inspection operation on the target task point.
Alternatively, the processor 1001 calls the robot control program stored in the memory 1005 and performs the following operations:
the two ultra-wideband tags are respectively communicated with the three ultra-wideband base stations, and target distance information between the robot and a target task point and a yaw angle of the robot relative to the target task point are determined;
determining the moving direction and the moving speed of the robot according to the yaw angle and the target distance information;
and controlling the robot to move to a target task point corresponding to the task instruction according to the moving direction and the moving speed, and executing inspection operation on the target task point.
Alternatively, the processor 1001 may call the robot control program stored in the memory 1005, and further perform the following operations:
establishing a rectangular coordinate system according to three ultra wide band base stations respectively arranged on a coordinate origin and an X axis and a Y axis;
determining first coordinate information in the rectangular coordinate systems of the two ultra-wide band tags and second coordinate information of the target task point in the rectangular coordinate systems;
and determining target distance information between the robot and the target task point and a yaw angle of the robot relative to the target task point according to the first coordinate information and the second coordinate information.
Alternatively, the processor 1001 may call the robot control program stored in the memory 1005, and further perform the following operations:
calculating a first included angle according to the first coordinate information, wherein the first included angle is an included angle formed by the robot and an X axis;
calculating a second included angle according to the first coordinate information and the second coordinate information, wherein the second included angle is an included angle formed by a connecting line of the robot and the target task point and the X axis;
and subtracting the first included angle from the second included angle to obtain a third included angle, and taking the third included angle as a yaw angle of the robot relative to the target task point.
Alternatively, the processor 1001 may call the robot control program stored in the memory 1005, and further perform the following operations:
the method comprises the steps that two ultra-wideband tags arranged on a robot are respectively communicated with a target base station, and the following distance information between the robot and the target base station and the following posture information of the robot relative to the target base station are determined;
and controlling the robot to follow the target base station to execute inspection operation according to the following distance information and the following attitude information.
Alternatively, the processor 1001 may call the robot control program stored in the memory 1005, and further perform the following operations:
determining whether the distance between the robot and the target base station is within a preset distance range or not according to the following distance information;
if not, controlling the robot to stop executing the inspection operation, and outputting prompt information to prompt the robot to be out of following;
and if so, correcting the posture of the robot when the robot follows the target base station to perform inspection operation according to the following posture information and preset time intervals, and controlling the robot to follow the target base station to perform inspection operation according to the corrected posture.
Referring to fig. 2, fig. 2 is a flowchart of a robot control method according to a first embodiment of the present invention, in this embodiment, the robot control method includes the following steps:
step S10: receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction;
to application scenes that need regularly patrol and examine such as wind-powered electricity generation field, because work load is big, and mostly be repeatability and regular work, the accessible robot replaces the manual work to patrol and examine, uses manpower sparingly to improve and patrol and examine efficiency. Most of the current inspection schemes adopt a mode of combining manual inspection and equipment monitoring, so that inspection precision is limited, and the function is single. Therefore, the fully-automatic robot control method provided by the embodiment is applied to application scenes such as wind power plants and the like which need to be regularly inspected, under the application scenes, the robot can adopt different control modes to realize intelligent inspection according to different task modes, can meet functional requirements under different application scenes, does not need human participation, and has higher reliability.
Specifically, the user can remotely send a task instruction to the robot through the upper computer, or before performing the inspection operation, trigger the task instruction through a function key (which may be an entity key or a touch key) arranged on the body of the robot, or send the task instruction to the robot through a human body recognition mode such as voice or gesture, and the like. The task instruction can comprise task information such as a task mode, a task place and a task execution period. Therefore, after the control system of the robot receives the task command sent by the upper computer, the task mode corresponding to the task command can be determined. In this embodiment, the task modes supported by the robot include, but are not limited to, a following mode, a navigation mode, an operation and maintenance mode, a charging mode, and the like. In addition, the robot in the embodiment can realize self-positioning through an Ultra Wideband (UWB) positioning technology, so as to perform routing inspection in response to different task modes. Therefore, the robot is provided with at least two ultra-wide band tags, a plurality of ultra-wide band base stations are arranged in the inspection area, and corresponding ultra-wide band tags (which are distinguished from the ultra-wide band tags arranged on the robot and marked as 'task tags') are correspondingly arranged at different task points in the inspection area.
The setting positions of the at least two ultra-wideband tags on the robot can be determined according to the form of the robot, specific positioning requirements and the like, in this embodiment, the at least two ultra-wideband tags are preferably set on the machine head of the robot, so as to determine the posture information of the robot according to the orientation of the machine head; the at least two ultra-wide band tags can be communicated with a plurality of ultra-wide band base stations in the inspection area so as to solve the attitude information, the position information and the like of the robot; correspondingly, the following mode is that the robot can move along with the base station within a certain safe distance, and wind power equipment around the base station is patrolled and examined within the safe distance; the navigation mode is that the robot can autonomously navigate from the current position to the target position according to the position information of the target task point corresponding to the task mode, and perform fixed-point inspection on the wind power equipment at the target position; the operation and maintenance mode, in particular to the operation and maintenance items supported by the robot, the robot can automatically execute corresponding operation and maintenance operations, and the operation and maintenance items not supported by the robot can be reported to a server or sent to a remote terminal to remind operation and maintenance personnel; the charging mode is especially, and the robot can monitor the electric quantity in real time through the voltage detection sensor arranged by the robot, and then when the electric quantity is insufficient, the robot returns to the charging equipment in time to charge.
Step S20: determining a communication mode between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations according to the task mode, and determining a routing inspection control mode corresponding to the task mode;
in order to improve the task execution efficiency and the task execution accuracy, under different task modes, the communication modes between the at least two ultra-wide band tags and the ultra-wide band base stations are different, and the inspection control modes of the robots corresponding to the different task modes are also different.
On one hand, the number of the ultra-wide band tags and the ultra-wide band base stations required by the different task modes is different, and the installation positions of the ultra-wide band tags and the ultra-wide band base stations can also be different, so that the corresponding communication modes in the different task modes can be communication between the ultra-wide band tags in different numbers and the ultra-wide band base stations in different numbers, or communication between the ultra-wide band tags in different positions and the ultra-wide band base stations in different positions, and the like.
In a specific embodiment, when the task mode is the navigation mode, in order to ensure the accuracy of robot positioning to realize autonomous navigation, at least two ultra-wideband tags arranged on the robot need to communicate with three ultra-wideband base stations in the patrol area respectively to realize positioning navigation of the robot. In a preferred embodiment, two ultra-wide band tags are preferably selected from at least two ultra-wide band tags arranged on the robot, three ultra-wide band base stations are selected from a plurality of ultra-wide band base stations in the inspection area, and the communication mode between the ultra-wide band tag arranged on the robot and the ultra-wide band base stations is as follows: communication is performed through the two ultra-wideband tags and the three ultra-wideband base stations. When the task mode is the following mode, in order to realize effective following of the robot, at least two ultra-wide band tags arranged on the robot are required to communicate with an ultra-wide band base station in an inspection area so as to realize positioning and following of the robot. In a preferred embodiment, two ultra-wide band tags are preferably selected from at least two ultra-wide band tags arranged on the robot, and one ultra-wide band base station is selected from a plurality of ultra-wide band base stations in the inspection area as a signal source, and the communication mode between the ultra-wide band tag arranged on the robot and the ultra-wide band base station is as follows: and communicating with an ultra-wideband base station through the screened two ultra-wideband tags.
On the other hand, the inspection control modes corresponding to different task modes are different, for example, in the following mode, the robot needs to be controlled to move along with the target base station; in the navigation mode, the robot needs to be controlled to autonomously navigate to a target task point; when the robot patrols and examines the operation and maintenance items needing operation and maintenance in the operation and maintenance mode, the robot needs to be controlled to autonomously start the operation and maintenance function, and corresponding operation and maintenance operations are executed on the operation and maintenance items; in the charging mode, after the robot needs to be controlled to move to the charging equipment and finish alignment with the charging equipment, the charging operation is executed, and the robot enters a standby state until charging is finished or a task instruction is received and is awakened again.
In a specific embodiment, when the task mode is the navigation mode, the patrol control mode corresponding to the navigation mode may be determined as: and controlling the robot to move to a target task point corresponding to the task instruction, and executing inspection operation on the target task point. Target task points corresponding to different task instructions can be different, and different task points can be calibrated through task labels correspondingly arranged on different task points in the routing inspection area. The manner of controlling the robot to move to the target task point corresponding to the task instruction may be: the robot is positioned to obtain the relative position information of the robot and the target task point so as to determine the movement parameters of the robot, and then the robot is controlled to move to the target task point according to the determined movement parameters. The moving parameters are adjusted according to the relative position information of the robot and the target task point, and may include the moving speed and the moving direction of the robot, control parameters corresponding to different obstacle avoidance operations required to be acquired when the robot encounters different types of obstacles, and the like. When the task mode is the following mode, the patrol inspection control mode corresponding to the following mode can be determined as follows: and controlling the robot to follow the target base station corresponding to the task instruction to execute inspection operation. The target base station corresponding to the task instruction is the ultra-wideband base station which is selected from a plurality of ultra-wideband base stations arranged in the inspection area and is used as a signal source; when the distance between the target base station and the robot exceeds the preset distance range, the robot cannot effectively move along with the target base station, at the moment, the robot needs to be controlled to autonomously navigate to the preset distance range of the target base station, and then the robot follows the target base station to execute inspection operation. And the mode of controlling the robot to follow the target base station corresponding to the task instruction to execute the inspection operation can be as follows: and determining the following parameters of the robot according to the position information of the robot relative to the target base station, and further controlling the robot to follow the target base station according to the determined following parameters to execute the inspection operation. The following parameters also need to be adjusted in real time according to the position information of the robot relative to the target base station, and specifically may include attitude adjustment parameters, distance adjustment parameters, and the like.
Therefore, before the robot is controlled to execute the inspection operation, the communication modes between the at least two ultra-wide band tags corresponding to the current task mode and the ultra-wide band base stations are determined, and the inspection control mode corresponding to the current task mode is determined.
Step S30: when the at least two ultra-wide band tags and the plurality of ultra-wide band base stations communicate in the communication mode, controlling the robot to execute inspection operation corresponding to the task mode in the inspection control mode;
when the at least two ultra-wide band tags communicate with the plurality of ultra-wide band base stations according to the communication mode, namely when the at least two ultra-wide band tags communicate with the ultra-wide band base stations with different numbers or different positions, the robot can be controlled to execute the inspection operation corresponding to the determined task mode according to the determined inspection control mode. For example, when the task mode is the navigation mode, the determined communication mode may be: the robot is controlled to move to a target task point corresponding to a task instruction according to a determined inspection control mode and perform inspection operation on the target task point; when the task mode is the following mode, the corresponding communication mode may be: the robot is controlled to move to a target task point corresponding to the task instruction according to the determined inspection control mode and perform inspection operation on the target task point.
In addition, the robot is provided with a one-key return function, and can directly return to the initial position for standby or return to a charging area for charging when a return function key is triggered.
According to the embodiment, the task instruction sent by the upper computer is received, the task mode corresponding to the task instruction is determined, then the communication mode between the ultra-wide band tag arranged on the robot and the ultra-wide band base station in the inspection area is determined according to the task mode, and the inspection control mode corresponding to the task mode is determined, so that when the ultra-wide band tag arranged on the robot and the ultra-wide band base station in the inspection area communicate according to the determined communication mode, the robot can be controlled to execute the inspection operation corresponding to the task mode according to the determined inspection control mode. That is, adopt different communication modes and different control mode of patrolling and examining to carry out the operation of patrolling and examining that different task modes correspond for the robot can carry out different operation of patrolling and examining under the task mode of difference, avoids the robot function singleness can't satisfy the user demand, has improved the flexibility of robot.
Referring to fig. 3, fig. 3 is a flowchart of a robot control method according to a second embodiment of the present invention, in this embodiment, the robot control method includes the following steps:
step S11: receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction;
step S12: if the task mode is a navigation mode, determining that the communication modes between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations are as follows: the method comprises the following steps that two ultra-wideband labels arranged on a robot are respectively communicated with three ultra-wideband base stations in a polling area;
step S13: determining the routing inspection control mode corresponding to the navigation mode as follows: controlling the robot to move to a target task point corresponding to the task instruction, and executing inspection operation on the target task point;
step S14: communicating according to the communication mode to determine target distance information between the robot and the target task point and a yaw angle of the robot relative to the target task point;
step S15: determining the moving direction and the moving speed of the robot according to the yaw angle and the target distance information;
step S16: and controlling the robot to move to a target task point corresponding to the task instruction according to the moving direction and the moving speed in the inspection control mode, and executing inspection operation on the target task point.
In this embodiment, two ultra-wide band tags (a first Tag1 and a second Tag2) arranged on the robot are respectively connected with three ultra-wide band base stations (a first base station BS) in the inspection area1A second base station BS2The third base station BS3) And communicating, and controlling the robot to move to a target task point corresponding to the task instruction and executing inspection operation on the target task point. The method specifically includes the steps of firstly determining target distance information between the robot and a target task point and a yaw angle of the robot relative to the target task point, then determining the moving direction and the moving speed of the robot according to the determined yaw angle and the target distance information, then controlling the robot to move to the target task point corresponding to a task instruction according to the determined moving direction and the determined moving speed, and executing inspection operation on the target task point.
In a particular embodiment, the determination of the yaw angle may be: the method comprises the steps of firstly establishing a plane coordinate system according to three ultra-wideband base stations which are respectively arranged on a coordinate origin and an X axis and a Y axis, then determining first coordinate information in a rectangular coordinate system of two ultra-wideband labels and second coordinate information of a target task point in the rectangular coordinate system, and then determining target distance information between a robot and the target task point and a yaw angle of the robot relative to the target task point according to the first coordinate information and the second coordinate information. Here, the first coordinate information includes both the coordinate information of Tag1 and the coordinate information of Tag 2.
In particular, the position of two ultra-wideband tags is determinedThe first coordinate information in the rectangular coordinate system may use a toa (time of arrival) positioning scheme to achieve positioning of the uwb tag, and positioning of a single uwb tag requires at least three base stations. Assuming that the ultra-wideband Tag and the ultra-wideband base station are in the same plane, taking Tag1 as an example, Tag1 and BS can be obtained by a two-way ranging method respectively1、BS2And BS3Distance r between1、r2And r3. Then, respectively using BS1As the center r of a circle1Is radius, BS2As the center r of a circle2Is radius and BS3As the center r of a circle3The radius is rounded. Ideally, the three circles would intersect at a point where Tag1 is located, as shown in FIG. 4. Let the coordinates of Tag1 be (x)0，y0) And a base station BS is known1、BS2And BS3Respectively is (x)1，y1),(x2，y2),(x3，y3) The following system of equations is available:
since the above equation set is relatively complicated to calculate, the calculation process can be simplified by changing the installation location of the base station. In this embodiment, as shown in fig. 5, it is preferable to use a BS1Set at the origin of coordinates, set BS2Set on the x-axis, set BS3Arranged on the y-axis, the above system of equations can be simplified and solved as:
solving to obtain:
however, due to the interference of the external environment, the UWB measurement data has irregular up-and-down fluctuation, a kalaman algorithm can be selected to realize the filtering of the data, and then the triangular centroid algorithm is used for positioning the two ultra-wide band tags so as to improve the positioning accuracy. At this time, the three circles do not intersect at the same intersection point but at three intersection points (x) due to error or the like4，y4)，(x5，y5),(x6，y6) Since the overlap area formed by the three intersection points is small, in a preferred embodiment, the overlap area can be regarded as a small triangle, and at this time, the position of the centroid of the triangle is also the coordinate of Tag1, as shown in fig. 6. At this point, the coordinates of Tag1 can be solved as:
the coordinates of Tag2 can be obtained in the same manner as described above and will not be described herein.
In another embodiment, as shown in fig. 7, the manner of determining the target distance information between the robot and the target task point and the yaw angle of the robot relative to the target task point according to the first coordinate information and the second coordinate information may be: the method comprises the steps of firstly calculating a first included angle according to first coordinate information, wherein the first included angle is an included angle formed by a robot and an X axis, then calculating a second included angle according to the first coordinate information and second coordinate information, wherein the second included angle is an included angle formed by a connecting line of the robot and a target task point and the X axis, subtracting the first included angle from the second included angle to obtain a third included angle, and taking the third included angle as a yaw angle of the robot relative to the target task point.
First, a first included angle is calculated according to first coordinate information. If the coordinates of Tag1 and Tag2 are (x)0，y0)，(x7，y7) Specifically, the slope of the straight line where the Tag1 and the Tag2 are located can be determined firstly, then the slope of the perpendicular bisector of the straight line is calculated, and then the first included angle alpha formed by the robot body and the X axis can be calculated through the consensus of the arctan function1：
α1E-90, 90 deg.. Thus, the following results are obtained: (1) if α is1Greater than or equal to 0, then in x0≥x7When the head of the robot faces upwards and the tail of the robot faces downwards, the attitude angle alpha of the robot in a coordinate system1(ii) a At x0<x7The orientation of the robot head is in the opposite direction of the x-axis, and the attitude angle alpha of the robot head in the coordinate system2＝α1+180 degrees; (2) if α is1<0, then at x0≥x7When the head of the robot is oriented in the opposite direction of the x-axis, the attitude angle alpha of the head in the coordinate system is consistent2＝90°-α1(ii) a At x0<x7When the robot head is oriented in the positive direction of the x-axis, the attitude angle alpha of the robot head in the coordinate system is consistent2＝α1+360°，α2∈[0°,360°)。
Then, the second included angle is calculated according to the first coordinate information and the second coordinate information. If the coordinate of the target task point Tag3 is (x)8，y8) Firstly, the coordinate data of the midpoint of the fuselage can be obtained according to the coordinate data of Tag1 and Tag2, and then the included angle alpha formed by the straight line formed by the midpoint of the fuselage and the target task point and the x axis is calculated by utilizing an arctangent function formula3I.e. the second angle. The calculation formula is as follows:
(3) subtracting the first included angle from the second included angle to obtain a yaw angle alpha of the robot relative to the target task point4＝α3-α1，α4E [ -180,180 °). When alpha is4>0, it means the robot yaw to the right4(ii) a When alpha is4<When 0, it represents the left yaw alpha of the robot body4. In addition, the distance d between the robot body and the target task point can be obtained through a distance formula of two points in a plane coordinate system, and the calculation formula is as follows:
other pose information is similar to the above calculation process and is not described in detail here.
In the embodiment, when the task mode is the navigation mode, two ultra wide band tags are respectively communicated with three ultra wide band base stations, so that target distance information between the robot and a target task point and a yaw angle of the robot to the target task point can be determined, the moving direction and the moving speed of the robot are further determined according to the yaw angle and the target distance information, the robot is controlled to move to the target task point corresponding to a task instruction according to the determined moving direction and moving speed, the inspection operation is performed on the target task point, namely, the two ultra wide band tags are respectively communicated with the three ultra wide band base stations, the positioning accuracy is ensured, meanwhile, the robot is enabled to perform fixed-point inspection in the navigation mode, and the reliability and the effectiveness of the robot inspection can be improved.
Referring to fig. 8, fig. 8 is a flowchart of a robot control method according to a third embodiment of the present invention, in this embodiment, the robot control method includes the following steps:
step S21: receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction;
step S22: if the task mode is a following mode, determining that the communication modes between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations are as follows: communicating with a target base station corresponding to the task instruction through two ultra-wide band tags arranged on the robot;
step S23: determining the patrol control mode corresponding to the following mode as follows: controlling the robot to perform inspection operation along with the target base station corresponding to the task instruction;
step S24: communicating according to the communication mode to determine following distance information of the robot and the target base station and following attitude information of the robot relative to the target base station;
step S25: and controlling the robot to follow the target base station to execute inspection operation according to the inspection control mode according to the following distance information and the following attitude information.
In this embodiment, two ultra-wideband tags arranged on the robot communicate with one target base station corresponding to the task instruction, so that the robot can be controlled to follow the target base station to perform inspection operation in the following mode, as shown in fig. 9. The method specifically comprises the following steps: through two ultra-wide band labels (a first label Tag1 and a second label Tag2) arranged on the robot, the ultra-wide band labels and the target base station BS are respectively arranged0Communication is carried out, the following distance information of the robot and the target base station and the following attitude information of the robot relative to the target base station are firstly determined, and then the following attitude information is obtained according to the following attitude informationAnd controlling the robot to follow the target base station to execute inspection operation according to the determined following distance information and following attitude information.
(1) Determining the following distance of the robot relative to the target base station: firstly, the Tag1 and the BS can be determined through the bilateral ranging0Distance d of1，Tag2And BS0Distance d of2If the following distance between the robot and the target base station is set as d3Then the following distance between the robot and the target base station is
(2) And resolving the following distance through a PID algorithm, so that the speed control of the robot can be realized. At this time, the deviation between the following distance and d3 may be calculated first:
the solution is then performed by the following PID algorithm:
wherein T represents a sampling period; k represents a sampling sequence number; e (k) represents the current input offset; e (k-1) represents the last input offset.
(3) And determining the following attitude information of the robot relative to the target base station. Assume that the distance between Tag1 and Tag2 is d4Then the connecting line between the two tags and the target base station and the connecting line between the two tags can form a triangle, and at the moment, the angles theta of the two tags relative to the target base station can be respectively obtained through angle algorithm calculation1And theta2：
Further according to theta1And theta2And resolving attitude information of the robot, and then realizing direction control of the robot through a PID algorithm. Can pass through theta1And theta2And resolving the attitude information of the robot. That is, the travel speed of the robot can be adjusted by following the distance information; the advancing posture of the robot can be adjusted by following the posture information。
In another embodiment, according to the following distance information and the following posture information, the manner of controlling the robot to follow the target base station to perform the inspection operation may be: firstly, determining whether the distance between the robot and the target base station is within a preset distance range or not according to the following distance information, if so, correcting the posture of the robot when the robot follows the target base station to perform inspection operation according to the following posture information and a preset time interval, and controlling the robot to follow the target base station to perform inspection operation according to the corrected posture. If the distance is not within the preset distance range, the robot is controlled to stop executing the inspection operation, and prompt information is output to prompt that the robot is out of following. Specifically, when the following function is started, the main control module of the robot continuously receives the distance data between the tags and the base station, and calculates the distance between the two tags and the target base station. At this time, if the timer interrupt time is set to 20ms, the motion attitude of the robot can be corrected based on the calculated distance information every time of the interrupt. For example, if the effective range of the following distance is set to be within 0.8m to 2m, the distance data can be calculated by an angle algorithm and then calculated into the control quantity of the motor by a PID algorithm to control the direction of the robot. If the following keeping distance between the robot and the signal source is set to be 1.4m, when the robot is in the following effective range, the average distance between the two labels and the base station is calculated into the control quantity of the motor through a PID algorithm, and when the distance is greater than 1.4m, the robot is controlled to retreat; and when the distance is less than 1.4m, controlling the robot to advance.
In the embodiment, in the following mode, the following distance information between the robot and the target base station and the following attitude information of the robot relative to the target base station are determined through two tags and one base station, and then the robot is controlled to follow the target base station to execute the inspection operation according to the determined following distance information and following attitude information. The robot can be controlled to follow the target base station to perform inspection operation, the traveling speed and the traveling posture of the robot can be adjusted in real time in the following process, the condition that the traveling speed and the traveling posture exceed the effective distance range is avoided, inspection operation cannot be performed by effectively following the target base station, and the reliability of inspection operation in the following mode is improved.
In addition, the embodiment of the invention also provides a robot, as shown in fig. 10. In this embodiment, the robot includes: the system comprises a main control chip (STM32F103RCT6), a UWB tag, a voltage detection sensor, a photoelectric coding sensor, an infrared sensor, a Bluetooth module, a motor driver, a UWB base station, an upper computer and a motor. The UWB tag is used for acquiring the distance between the robot and the base station and the angle difference between the robot and the signal source; the voltage detection sensor is used for monitoring the electric quantity of the robot in real time, and when the voltage is lower than an early warning value, the robot is controlled to automatically reach a charging point and be charged, and a buzzer reminds workers of charging; the photoelectric coding sensor is used for correcting the posture of the robot in real time; the infrared sensor is used for realizing the functions of obstacle avoidance and the like of the robot; the Bluetooth module is used for issuing task commands to the robot; the motor is used for providing power for the robot and driving the robot to move; the UWB base station is used for ranging; the upper computer is used for giving a task instruction to the robot.
Optionally, the robot body is loaded with two UWB tags, and the acquisition of the absolute attitude and the relative attitude of the robot can be realized according to the positioning data and the gyroscope data of the two UWB tags.
Furthermore, an embodiment of the present invention further provides a readable storage medium, where a robot control program is stored, and the robot control program, when executed by a processor, implements the steps of the robot control method described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a television, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot control method is characterized in that the robot is provided with at least two ultra-wide band tags which can communicate with a plurality of ultra-wide band base stations in an inspection area, and the robot control method comprises the following steps:
receiving a task instruction sent by an upper computer, and determining a task mode corresponding to the task instruction;
determining a communication mode between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations according to the task mode, and determining a routing inspection control mode corresponding to the task mode;
and when the at least two ultra-wide band tags are communicated with the plurality of ultra-wide band base stations according to the communication mode, controlling the robot to execute the inspection operation corresponding to the task mode according to the inspection control mode.
2. The robot control method of claim 1, wherein the step of determining a manner of communication between the at least two ultra-wide band tags and the plurality of ultra-wide band base stations based on the mission pattern comprises:
if the task mode is the navigation mode, determining that the communication mode is as follows: the method comprises the following steps that two ultra-wideband labels arranged on a robot are respectively communicated with three ultra-wideband base stations in a polling area;
if the task mode is the following mode, determining that the communication mode is as follows: and communicating with a target base station corresponding to the task instruction through two ultra-wide band tags arranged on the robot.
3. The robot control method according to claim 2, wherein the step of determining the patrol control manner corresponding to the task mode includes:
if the task mode is the following mode, determining that the patrol control mode corresponding to the following mode is as follows: controlling the robot to perform inspection operation along with the target base station corresponding to the task instruction;
if the task mode is the navigation mode, determining that the patrol control mode corresponding to the navigation mode is as follows: and controlling the robot to move to a target task point corresponding to the task instruction, and executing inspection operation on the target task point.
4. The robot control method according to claim 3, wherein the step of controlling the robot to perform the patrol operation corresponding to the task mode in the patrol control manner when the task mode is the navigation mode includes:
the two ultra-wideband tags are respectively communicated with the three ultra-wideband base stations, and target distance information between the robot and a target task point and a yaw angle of the robot relative to the target task point are determined;
determining the moving direction and the moving speed of the robot according to the yaw angle and the target distance information;
and controlling the robot to move to a target task point corresponding to the task instruction according to the moving direction and the moving speed, and executing inspection operation on the target task point.
5. The robot control method of claim 4, wherein the step of determining the target distance information between the robot and the target mission point and the yaw angle of the robot relative to the target mission point by communicating the two ultra-wideband tags with three ultra-wideband base stations, respectively, comprises:
establishing a rectangular coordinate system according to three ultra wide band base stations respectively arranged on a coordinate origin and an X axis and a Y axis;
determining first coordinate information in the rectangular coordinate systems of the two ultra-wide band tags and second coordinate information of the target task point in the rectangular coordinate systems;
and determining target distance information between the robot and the target task point and a yaw angle of the robot relative to the target task point according to the first coordinate information and the second coordinate information.
6. The robot control method of claim 5, wherein the step of determining a yaw angle of the robot with respect to the target task point based on the first coordinate information and the second coordinate information comprises:
calculating a first included angle according to the first coordinate information, wherein the first included angle is an included angle formed by the robot and an X axis;
calculating a second included angle according to the first coordinate information and the second coordinate information, wherein the second included angle is an included angle formed by a connecting line of the robot and the target task point and the X axis;
and subtracting the first included angle from the second included angle to obtain a third included angle, and taking the third included angle as a yaw angle of the robot relative to the target task point.
7. The robot control method according to claim 3, wherein the step of controlling the robot to perform the patrol operation corresponding to the task mode in the patrol control manner when the task mode is the leading following mode includes:
the method comprises the steps that two ultra-wideband tags arranged on a robot are respectively communicated with a target base station, and the following distance information between the robot and the target base station and the following posture information of the robot relative to the target base station are determined;
and controlling the robot to follow the target base station to execute inspection operation according to the following distance information and the following attitude information.
8. The robot control method according to claim 7, wherein the step of controlling the robot to follow the target base station to perform the patrol operation based on the following distance information and the following attitude information includes:
determining whether the distance between the robot and the target base station is within a preset distance range or not according to the following distance information;
if not, controlling the robot to stop executing the inspection operation, and outputting prompt information to prompt the robot to be out of following;
and if so, correcting the posture of the robot when the robot follows the target base station to perform inspection operation according to the following posture information and preset time intervals, and controlling the robot to follow the target base station to perform inspection operation according to the corrected posture.
9. A robot, characterized in that the robot comprises a memory, a processor and a robot control program stored on the memory and executable on the processor, the processor implementing the steps of the robot control method according to any of claims 1-8 when executing the robot control program.
10. A readable storage medium, having stored thereon a robot control program which, when executed by a processor, carries out the steps of the robot control method according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498729.8A CN112518757A (en) | 2020-12-17 | 2020-12-17 | Robot control method, robot, and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498729.8A CN112518757A (en) | 2020-12-17 | 2020-12-17 | Robot control method, robot, and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112518757A true CN112518757A (en) | 2021-03-19 |
Family
ID=75001168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011498729.8A Withdrawn CN112518757A (en) | 2020-12-17 | 2020-12-17 | Robot control method, robot, and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112518757A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179487A (en) * | 2021-04-22 | 2021-07-27 | Oppo广东移动通信有限公司 | Working mode control method and device, electronic equipment and storage medium |
| CN113311793A (en) * | 2021-05-28 | 2021-08-27 | 芜湖哈特机器人产业技术研究院有限公司 | Distributed scheduling system and method suitable for multiple AMRs |
| CN113534216A (en) * | 2021-09-16 | 2021-10-22 | 广东科凯达智能机器人有限公司 | Line inspection robot GPS position correction positioning method and system |
| CN115424410A (en) * | 2022-11-03 | 2022-12-02 | 国网浙江省电力有限公司金华供电公司 | High-voltage environment protection method based on wireless radiation perception and multi-modal data |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567860A (en) * | 2014-12-29 | 2015-04-29 | 深圳市科松电子有限公司 | Robot autonomous-navigation method, device and system |
| CN206431489U (en) * | 2017-02-13 | 2017-08-22 | 四川超影科技有限公司 | Crusing robot navigation system based on ultra wide band |
| CN108646215A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | It is a kind of that method for rapidly positioning is followed based on ultra wide band automatically |
| CN109407659A (en) * | 2018-01-29 | 2019-03-01 | 大连理工大学 | The localization method and system of tennis court robot |
| CN109445466A (en) * | 2018-11-09 | 2019-03-08 | 浙江国自机器人技术有限公司 | Robot follow-up control method, system, equipment and computer readable storage medium |
| CN109828585A (en) * | 2019-03-04 | 2019-05-31 | 山东力创科技股份有限公司 | A kind of all-around mobile AGV control method, system and AGV |
| CN110147091A (en) * | 2018-02-13 | 2019-08-20 | 深圳市优必选科技有限公司 | Robot motion control method and device and robot |
| CN111352444A (en) * | 2020-04-23 | 2020-06-30 | 上海交通大学 | Unmanned aerial vehicle outdoor mobile platform autonomous landing method and system based on wireless navigation |
| US20200206921A1 (en) * | 2018-12-30 | 2020-07-02 | Ubtech Robotics Corp | Robot movement control method, apparatus and robot using the same |
| CN111966113A (en) * | 2020-08-19 | 2020-11-20 | 中国科学院合肥物质科学研究院 | Intelligent tool car system based on ultra-bandwidth wireless communication |
-
2020
- 2020-12-17 CN CN202011498729.8A patent/CN112518757A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567860A (en) * | 2014-12-29 | 2015-04-29 | 深圳市科松电子有限公司 | Robot autonomous-navigation method, device and system |
| CN206431489U (en) * | 2017-02-13 | 2017-08-22 | 四川超影科技有限公司 | Crusing robot navigation system based on ultra wide band |
| CN109407659A (en) * | 2018-01-29 | 2019-03-01 | 大连理工大学 | The localization method and system of tennis court robot |
| CN110147091A (en) * | 2018-02-13 | 2019-08-20 | 深圳市优必选科技有限公司 | Robot motion control method and device and robot |
| CN108646215A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | It is a kind of that method for rapidly positioning is followed based on ultra wide band automatically |
| CN109445466A (en) * | 2018-11-09 | 2019-03-08 | 浙江国自机器人技术有限公司 | Robot follow-up control method, system, equipment and computer readable storage medium |
| US20200206921A1 (en) * | 2018-12-30 | 2020-07-02 | Ubtech Robotics Corp | Robot movement control method, apparatus and robot using the same |
| CN109828585A (en) * | 2019-03-04 | 2019-05-31 | 山东力创科技股份有限公司 | A kind of all-around mobile AGV control method, system and AGV |
| CN111352444A (en) * | 2020-04-23 | 2020-06-30 | 上海交通大学 | Unmanned aerial vehicle outdoor mobile platform autonomous landing method and system based on wireless navigation |
| CN111966113A (en) * | 2020-08-19 | 2020-11-20 | 中国科学院合肥物质科学研究院 | Intelligent tool car system based on ultra-bandwidth wireless communication |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113179487A (en) * | 2021-04-22 | 2021-07-27 | Oppo广东移动通信有限公司 | Working mode control method and device, electronic equipment and storage medium |
| CN113311793A (en) * | 2021-05-28 | 2021-08-27 | 芜湖哈特机器人产业技术研究院有限公司 | Distributed scheduling system and method suitable for multiple AMRs |
| CN113311793B (en) * | 2021-05-28 | 2024-04-05 | 芜湖哈特机器人产业技术研究院有限公司 | Distributed scheduling system and method suitable for multiple AMRs |
| CN113534216A (en) * | 2021-09-16 | 2021-10-22 | 广东科凯达智能机器人有限公司 | Line inspection robot GPS position correction positioning method and system |
| CN113534216B (en) * | 2021-09-16 | 2021-12-21 | 广东科凯达智能机器人有限公司 | Line inspection robot GPS position correction positioning method and system |
| CN115424410A (en) * | 2022-11-03 | 2022-12-02 | 国网浙江省电力有限公司金华供电公司 | High-voltage environment protection method based on wireless radiation perception and multi-modal data |
| CN115424410B (en) * | 2022-11-03 | 2023-12-19 | 国网浙江省电力有限公司金华供电公司 | High-pressure environment protection method based on wireless radiation sensing and multi-mode data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112518757A (en) | Robot control method, robot, and readable storage medium | |
| US8311676B2 (en) | System and method for controlling a bipedal robot via a communication device | |
| CN103822625B (en) | Line-tracking navigation method and device for intelligent robot | |
| CN105652870A (en) | Autonomous patrol control system and method of intelligent security service robot | |
| CN111309000B (en) | AGV system based on double control boards and path planning method | |
| CN113189977A (en) | Intelligent navigation path planning system and method for robot | |
| CN111966102B (en) | Intelligent robot sampling system for automatic detection and control method thereof | |
| CN105044754A (en) | Mobile platform outdoor positioning method based on multi-sensor fusion | |
| Ding et al. | Development of a high precision UWB/vision-based AGV and control system | |
| CN211468615U (en) | On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm | |
| KR101094465B1 (en) | Method and apparatus for simultaneously manipulating multiple moving objects, and recording medium containing computer readable programs performing the same | |
| CN214846390U (en) | Dynamic environment obstacle avoidance system based on automatic guided vehicle | |
| CN110201340A (en) | A kind of autonomous fire-fighting robot system having Online Map building and navigation feature | |
| CN112894758A (en) | Robot cleaning control system, method and device and computer equipment | |
| Xiao et al. | Design of a laser navigation system for substation inspection robot | |
| Zhou et al. | Slam algorithm and navigation for indoor mobile robot based on ros | |
| CN112797986B (en) | Intelligent logistics robot positioning system and method based on unmanned autonomous technology | |
| US11822331B2 (en) | Three-dimensional environmental coverage oriented motion system and method | |
| Xu et al. | Design and implementation of an ROS based autonomous navigation system | |
| CN211207169U (en) | Chassis control system of greenhouse picking robot | |
| Mashrik et al. | Design and Implementation of Security Patrol Robot Using Android Application | |
| CN110989382A (en) | Multifunctional cloud service home robot | |
| CN107272725B (en) | Spherical robot motion control system with visual feedback and motion control method | |
| CN115781693A (en) | Obstacle avoidance method and device for industrial robot, industrial robot and storage medium | |
| CN112013868B (en) | Adaptive parameter police dog attitude estimation method based on visual inertial navigation odometer |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210319 |