CN115309167B - 自主移动设备及其控制方法和计算机可读存储介质 - Google Patents

自主移动设备及其控制方法和计算机可读存储介质 Download PDF

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Publication number
CN115309167B
CN115309167B CN202211131073.5A CN202211131073A CN115309167B CN 115309167 B CN115309167 B CN 115309167B CN 202211131073 A CN202211131073 A CN 202211131073A CN 115309167 B CN115309167 B CN 115309167B
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CN
China
Prior art keywords
autonomous mobile
path
mobile equipment
equipment
controlling
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.)
Active
Application number
CN202211131073.5A
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English (en)
Chinese (zh)
Other versions
CN115309167A (zh
Inventor
张少光
林德淦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weilan Continental Beijing Technology Co ltd
Original Assignee
Weilan Continental Beijing Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Weilan Continental Beijing Technology Co ltd filed Critical Weilan Continental Beijing Technology Co ltd
Priority to CN202211131073.5A priority Critical patent/CN115309167B/zh
Publication of CN115309167A publication Critical patent/CN115309167A/zh
Application granted granted Critical
Publication of CN115309167B publication Critical patent/CN115309167B/zh
Priority to PCT/CN2023/116606 priority patent/WO2024055855A1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G05D1/6445—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance for optimising payload operation, e.g. camera or spray coverage
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN202211131073.5A 2022-09-16 2022-09-16 自主移动设备及其控制方法和计算机可读存储介质 Active CN115309167B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202211131073.5A CN115309167B (zh) 2022-09-16 2022-09-16 自主移动设备及其控制方法和计算机可读存储介质
PCT/CN2023/116606 WO2024055855A1 (fr) 2022-09-16 2023-09-01 Dispositif mobile autonome et son procédé de commande, et support de stockage lisible par ordinateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211131073.5A CN115309167B (zh) 2022-09-16 2022-09-16 自主移动设备及其控制方法和计算机可读存储介质

Publications (2)

Publication Number Publication Date
CN115309167A CN115309167A (zh) 2022-11-08
CN115309167B true CN115309167B (zh) 2023-08-01

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CN202211131073.5A Active CN115309167B (zh) 2022-09-16 2022-09-16 自主移动设备及其控制方法和计算机可读存储介质

Country Status (2)

Country Link
CN (1) CN115309167B (fr)
WO (1) WO2024055855A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115309167B (zh) * 2022-09-16 2023-08-01 未岚大陆(北京)科技有限公司 自主移动设备及其控制方法和计算机可读存储介质

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113671549A (zh) * 2020-05-15 2021-11-19 深圳市时空导航科技有限公司 定位方法、装置、系统、电子设备及存储介质

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WO2015072897A1 (fr) * 2013-11-12 2015-05-21 Husqvarna Ab Navigation améliorée pour outil de travail robotique
CN105353758A (zh) * 2015-11-10 2016-02-24 闫夙 一种精密自动割草机分布式信标激光定位与轨迹控制系统
CN106814732A (zh) * 2015-11-27 2017-06-09 科沃斯机器人股份有限公司 自移动机器人及其行走模式转换方法和行走方法
EP3998452B1 (fr) * 2016-04-12 2023-12-27 Positec Power Tools (Suzhou) Co., Ltd. Dispositif de déplacement automatique pour système de travail automatique, et son procédé de commande
US11378979B2 (en) * 2017-05-26 2022-07-05 Positec Power Tools (Suzhou) Co., Ltd. Moving object and positioning method therefor, automated working system, and storage medium
US11714411B2 (en) * 2018-03-19 2023-08-01 Honda Motor Co., Ltd. Autonomous traveling work machine
CN112799389B (zh) * 2019-11-12 2022-05-13 苏州宝时得电动工具有限公司 自动行走区域路径规划方法及自动行走设备
CN112857368B (zh) * 2019-11-12 2024-04-09 苏州宝时得电动工具有限公司 一种割草机导航方法、装置和割草机
CN114322980A (zh) * 2020-09-30 2022-04-12 上海山科机器人有限公司 获取位置坐标及绘制电子地图的方法、计算机可读存储介质和自主作业设备
CN115309167B (zh) * 2022-09-16 2023-08-01 未岚大陆(北京)科技有限公司 自主移动设备及其控制方法和计算机可读存储介质

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113671549A (zh) * 2020-05-15 2021-11-19 深圳市时空导航科技有限公司 定位方法、装置、系统、电子设备及存储介质

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Publication number Publication date
WO2024055855A1 (fr) 2024-03-21
CN115309167A (zh) 2022-11-08

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