CN207752371U - A kind of robot autonomous navigation device and robot - Google Patents
A kind of robot autonomous navigation device and robot Download PDFInfo
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- CN207752371U CN207752371U CN201820158402.8U CN201820158402U CN207752371U CN 207752371 U CN207752371 U CN 207752371U CN 201820158402 U CN201820158402 U CN 201820158402U CN 207752371 U CN207752371 U CN 207752371U
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Abstract
The utility model is related to field of artificial intelligence more particularly to a kind of robot autonomous navigation devices and robot.A kind of robot autonomous navigation device, which is characterized in that including：At least one distance measuring sensor that random device people advances and the controller being connected with the distance measuring sensor, the controller includes that the SLAM being at least connected with one of distance measuring sensor builds module and path navigation module, at least in distance measuring sensor in real time corresponding detection blind area, it is entered from robot during leaving the detection blind area, navigation directions of the robot obstacle information measured when close to detection blind area as path navigation module, to ensure that robot will not be because the refreshing of real-time complaint message bumps against barrier in detection blind area when by barrier.
Description
Technical field
The utility model is related to the technical field of artificial intelligence more particularly to a kind of robot autonomous navigation devices and machine
People.
Background technology
Artificial intelligence（Artificial Intelligence）, english abbreviation AI.It is research, develop for simulating,
Extend and extend intelligent theory, the new technological sciences of method, technology and application system of people.Artificial intelligence is to calculate
One branch of machine science, it attempts to understand essence of intelligence, and produce it is a kind of it is new can be in such a way that human intelligence be similar
The intelligence machine made a response.
SLAM (simultaneous localization and mapping), also referred to as CML (Concurrent
Mapping and Localization), instant positioning and map structuring, or concurrently build figure and positioning.Problem can describe
For：One robot is put into the unknown position in circumstances not known, if having method that robot is allowed gradually to depict this ring on one side
The complete map in border, while determining that robot should advance toward which direction on one side.Such as sweeping robot is exactly a very allusion quotation
The SLAM problems of type, so-called complete map（a consistent map）Refer to that not advanced to room by obstacle enterable every
A corner.SLAM was proposed by SmithSelf and Cheeseman in 1988 earliest.Due to its important theory and the valence of applying
Value is considered to realize the key of really full autonomous mobile robot by many scholars.
Existing SLAM navigation positional devices mostly use single ectosome distance measuring sensor information.Such as it is based on two-dimensional laser
The 2D-SLAM of radar, it is based on depth camera（Also known as class Kinect cameras）RGBD-SLAM etc..Since the ranging of dependence senses
Device is more single, and robot can not obtain the whole perception to ambient enviroment so that avoidance effect of navigating under certain scenes is not to the utmost
People's will.Existing rangefinder carries out local dynamic station avoidance more, because of detection blind area and then local cost map failure, causes robot
It collides with barrier.
Utility model content
The purpose of this utility model is that a kind of autonomous navigation method of robot is proposed, by distinguishing sensor in robot
Corresponding detection blind area and validity test area in traveling process, will be in pair surveyed in the neighbouring validity test area of detection blind area
The obstacle information for answering detection blind area prevents robot to be expert at as navigation directions during robot passes through detection blind area
Into or turning process in because detection blind area can not measure accurate obstacle information, and entire detection blind area is regarded as no barrier
Hinder object to carry out route planning, reduces the probability that robot collides with barrier, improve the accuracy of robot navigation
And high efficiency.
For this purpose, the utility model uses following technical scheme：
A kind of autonomous navigation method of robot, at least one distance measuring sensor that random device people advances are corresponding in real time at it
In detection blind area, entered from robot during leaving the detection blind area, robot is measured when close to detection blind area
Navigation directions of the obstacle information as path navigation module, to ensure that robot will not be because when by grid where barrier
The refreshing of real-time complaint message bumps against barrier in detection blind area.
As one of the preferred embodiments of the present invention, at least in laser radar, ultrasonic range finder, depth camera or milli
The one of which of these four distance measuring sensors of metre wave radar or any number of combination are in real-time corresponding detection blind area, from robot
It enters and leaves the detection blind area, robot does not enter barrier up-to-date information measured when detection blind area as navigation
It guides.
As one of the preferred embodiments of the present invention, the laser radar advanced by random device people carry out part and/or
The overall situation builds figure and rasterizing, and obstacle is measured in validity test area real-time update including at least the distance measuring sensor including laser radar
Object information, and corresponding obstacle information is associated with to corresponding grid, and with regard to the survey of same grid between different distance measuring sensors
When test result has the conflict of obstacle information and clear information, output has obstacle information.
As one of the preferred embodiments of the present invention, the barrier letter that the laser radar is measured in useful range
Breath includes distance d and orientation angle r, converts in part and/or global map the corresponding parameter d and r of obstacle information to
Coordinate, and be associated with to grid corresponding with coordinate, wherein d and r are constant.
As one of the preferred embodiments of the present invention, the obstacle that the ultrasonic range finder is measured in useful range
Object information（P, Ω）, wherein P surveys the distance of barrier by ultrasonic range finder, and Ω is the angular error range of ultrasonic wave, will
Obstacle information P and Ω are converted into the coordinate in part and/or global map, and are associated with to corresponding grid, and the P and Ω are normal
Number.
As one of the preferred embodiments of the present invention, the depth camera measures setting height in effective finding range
Obstacle information in range converts obstacle information to the coordinate in part and/or global map, and is associated with to corresponding grid
Lattice.
As one of the preferred embodiments of the present invention, the altitude range is（H0, H1）, wherein H0Not higher than robot
The walking Earth surface plane of institute, H1Not less than the peak of robot, the H0And H1For constant.
As one of the preferred embodiments of the present invention, at least one distance measuring sensor its there are errors to be（- E, E）, then
By obstacle information according to error range after direction of error expands corresponding width, be converted into the obstacle information after expansion
Coordinate in part and/or global map, and be associated with to corresponding grid；Alternatively, converting obstacle information to local and/or complete
Coordinate in local figure, and being associated with to corresponding grid, according to error range to the grid with barrier along the direction of error or
It is comprehensive to be expanded, navigation directions are carried out using the region after expansion as with barrier grid, wherein E is normal number.
As one of the preferred embodiments of the present invention, the length of side of the grid is δ, when 2E/ δ are less than 1, to having barrier
Hinder the grid of object without expansion；When 2E/ δ are more than or equal to 1, the grid with barrier is expanded, the δ is normal
Number.
A kind of robot autonomous navigation device, including：Random device people advance at least one distance measuring sensor and with it is described
The controller that distance measuring sensor is connected enters at least in distance measuring sensor in real time corresponding detection blind area from robot
During leaving the detection blind area, robot obstacle information measured when close to detection blind area is as path navigation module
Navigation directions, with ensure robot when by grid where barrier will not because real-time complaint message refreshing detect it is blind
Area bumps against barrier.
As one of the preferred embodiments of the present invention, the distance measuring sensor is included at least for part and/or the overall situation
The laser radar of figure is built, the controller includes that the SLAM being connected with laser radar builds module and path navigation module, is surveyed
Obstacle information is measured in validity test area real-time update away from sensor, and corresponding obstacle information is associated with to corresponding grid
Lattice, and rushing for obstacle information and clear information is had with regard to the test result of same grid between different distance measuring sensor
When prominent, output has obstacle information.
A kind of robot, with the robot autonomous navigation device；And/or the robot is using described
Autonomous navigation method of robot navigates.
Advantageous effect：Pass through distinguishing sensor detection blind area corresponding in robot traveling process and validity test
Area passes through the obstacle information for the correspondence detection blind area surveyed in the validity test area for having detection blind area neighbouring in robot
It crosses during detection blind area as navigation directions, prevents robot in traveling or turning process because detection blind area can not be measured
Accurate obstacle information, and entire detection blind area is regarded as clear and carries out route planning, reduce robot and barrier
Hinder the probability that object collides, improves the Accuracy and high efficiency of robot navigation.
Description of the drawings
Fig. 1 is the structural schematic diagram for the robot autonomous navigation device that the utility model embodiment 1 provides.
Fig. 2 is the structural schematic diagram for the robot autonomous navigation device that the utility model embodiment 2 provides.
Fig. 3 is the structural schematic diagram for the robot autonomous navigation device that the utility model embodiment 3 provides.
Fig. 4 is the structural schematic diagram for the robot autonomous navigation device that the utility model embodiment 4 provides.
In figure：1, controller；2, laser radar；3, ultrasonic range finder；4, depth camera；5, millimetre-wave radar；6, it drives
Dynamic system；11, SLAM builds module；12, path navigation module.
Specific implementation mode
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
Embodiment 1
The Algorithms of Robots Navigation System of the prior art mostly uses single ectosome distance measuring sensor.Since the ranging of dependence passes
Sensor is more single, and because of different ectosome distance measuring sensors, the accuracy rating and blind area of test are different, are applicable in scene material
Material and environment also have many differences, robot that can not obtain the whole perception to ambient enviroment so that navigation avoidance effect is not to the utmost
People's will.The existing ectosome distance measuring sensor for ranging carry out in order to reduce the reaction efficiency that calculation amount improves robot more
Local dynamic station avoidance, the detection blind area present in itself limitation because of ectosome distance measuring sensor often make local cost map
Failure, causes robot to collide with barrier.
The utility model provides a kind of autonomous navigation method of robot, at least one ranging sensing that random device people advances
Device enters during leaving the detection blind area in its in real time corresponding detection blind area from robot, and robot is visited close
Navigation directions of the obstacle information measured when blind area as path navigation module 12 are surveyed, to ensure robot by obstacle
Where object barrier will not be bumped against in detection blind area when grid because of the refreshing of real-time complaint message.The distance measuring sensor include but
It is not limited to laser radar, ultrasonic range finder, depth camera or millimetre-wave radar.
By distinguishing sensor detection blind area corresponding in robot traveling process and validity test area, there will be spy
The obstacle information for surveying the correspondence detection blind area surveyed in the neighbouring validity test area in blind area passes through detection blind area mistake in robot
It is used as navigation directions in journey, prevents robot in traveling or turning process because detection blind area can not measure accurate barrier
Information, and entire detection blind area is regarded as clear and carries out route planning, reduce robot and collides with barrier
Probability, improve the Accuracy and high efficiency of robot navigation.
Distance measuring sensor is measured in real time and updates to the obstacle information in validity test area, ensure that robot is expert at
There is preferable timeliness into planning, be conducive to the constantly activity or external barrier of the complicated external environment such as barrier of reply
It is whole to change.
One of preferably, at least laser radar, ultrasonic range finder, depth camera or millimetre-wave radar this four
The one of which of kind distance measuring sensor or any number of combination enter from robot in real-time corresponding detection blind area and leave institute
The detection blind area stated, robot do not enter barrier up-to-date information measured when detection blind area as navigation directions.
The laser radar 2 advanced by random device people carries out part and/or the overall situation builds figure and rasterizing, at least in laser thunder
Up in 2 real-time corresponding detection blind areas, laser radar 2, ultrasonic distance measuring apparatus, depth camera 4, millimetre-wave radar 5 these rangings
The combination of one of sensor or any number measures obstacle information in corresponding validity test area real-time update, and
Corresponding obstacle information is associated with to corresponding grid, and the test result between different distance measuring sensors with regard to same grid occurs
When having the conflict of obstacle information and clear information, output has obstacle information.The part and/or global map are built
Figure, can first establish local map, can also be first to establish global map, can also be that first establishing local map will establish again
Local map be stitched together as global map；Alternatively, can also be first establish global map then it is enterprising in global map
The real-time update of row local map.
The laser radar 2 that the utility model uses, is to emit the characteristic quantities such as the position of detecting laser beam target, speed
Radar system.Its operation principle is the slave mesh that then will be received to objective emission detectable signal (laser beam or infrared beam)
It marks reflected signal (target echo) to be compared with transmitting signal, after handling accordingly, so that it may obtain the related of target
Information, such as target range, orientation, height, speed, posture, even shape parameter, ranging accuracy rate is high, and it is accurate also to can get
The high angle of rate, distance and velocity resolution.And laser radar 2 test frequency is high, Refresh Data is fast, measurement period usually with
Ms is calculated, and effectively raises the promptness and accuracy of part traveling planning.The utility model is used as machine with laser radar 2
People's independent navigation locally or globally builds figure, and it is accurate to build figure, and it is efficient to build figure.
Specifically, the obstacle information that the laser radar 2 is measured in useful range includes distance d and orientation angle
R, the point determined using some in part and/or global map convert obstacle information corresponding parameter d and r as origin
For the coordinate in part and/or global map, and the coordinate in the corresponding part of obstacle information and/or global map is associated with
To corresponding grid.The obstacle information can be stored in part and/or global map, or can also be stored in and be hindered
Hinder object information into corresponding grid or the obstacle information can transmit out to path planning module, as to machine
The guide of people's independent navigation, wherein d and r are constant.
There are the measurement errors of Centimeter Level for laser radar 2, because of the difference of ranging and measurement method, different laser radars 2
With different error ranges.In order to ensure the safety of robot autonomous navigation and the smoothness of operation, need further swollen
Swollen barrier region.The present embodiment is with the error of laser radar 2（- E, E）For, there are two kinds of expanding methods, the first, it will
Obstacle information is according to error range（- E, E）After direction of error expands corresponding width, converted with the obstacle information after expansion
For the coordinate in part and/or global map, and it is associated with to corresponding grid.Second, by obstacle information be converted into part and/
Or the coordinate in global map, and be associated with to corresponding grid.And based on the grid for having barrier, according to the side of error range
To or it is comprehensive expanded, using the region after expansion as with barrier grid carry out navigation directions.Wherein the first
Expanding method accurately provides obstacle information, but calculation amount is larger, and second of expanding method alleviates calculation amount, but deposit
In the possibility for reducing robot motion region.Therefore it needs to select to use a kind of that expanding method according to specific circumstances.
The utility model additionally provides a kind of robot autonomous navigation device, as shown in Figure 1, including：Random device people advances
At least one distance measuring sensor and the controller 1 that is connected with the distance measuring sensor, the controller 1 include at least with its
In the SLAM that is connected of a distance measuring sensor build module 11 and path navigation module 12, path navigation module 12 is at least being surveyed
It away from sensor in real time corresponding detection blind area, is entered from robot during leaving the detection blind area, robot is close
Navigation directions of the measured obstacle information as path navigation module 12 when detection blind area, to ensure robot by hindering
Hindering will not be because the refreshing of real-time complaint message bumps against barrier in detection blind area when object.
When it is implemented, the distance measuring sensor is included at least for part and/or the global laser radar 2 for building figure, institute
It includes that the SLAM being connected with laser radar 2 builds module 11 and path navigation module 12 to state controller 1, and the SLAM builds artwork
Block 11 is also associated with path navigation module 12, and the path navigation module 12 connects the drive system 6 of robot.It leads in the path
Model plane block 12 carries out cooperation driving, Huo Zhegen according to the obstacle information setting walking path and order-driven system 6 that receive
According to the real-time adjusts path of the operation conditions of drive system 6.
The utility model additionally provides a kind of robot, with the robot autonomous navigation device.
The utility model additionally provides a kind of robot, and the autonomous navigation method of robot is used to navigate.
Embodiment 2
Because it is directed to different applicable elements to different distance measuring sensors, there is different detection blind areas, therefore, in order to
The accuracy for improving robot autonomous navigation needs to be equipped with different distance measuring sensor combinations.As different from Example 1, also
Transparent substance is detected using ultrasonic range finder 3, as shown in Fig. 2, 3 directive property of ultrasonic range finder is strong, energy expenditure is slow,
The distance propagated in the medium farther out, but haves the shortcomings that measurement accuracy is inadequate, but because it can detect transparent substance
Such as the presence of glass etc., therefore transparent substance is detected using ultrasonic range finder 3 in the technical solution of the utility model,
Reduce the probability that mobile machine bumps against transparent barriers object.
The combination of laser radar 2 and ultrasonic distance measuring apparatus 3 measures obstacle information in corresponding validity test area real-time update,
And corresponding obstacle information is associated with to corresponding grid, and work as between laser radar 2 and ultrasonic range finder 3 with regard to same grid
Test result when having the conflict of obstacle information and clear information, output has obstacle information.
The obstacle information that the ultrasonic range finder 3 is measured in useful range（P, Ω）, wherein P is ultrasound
The distance of 3 surveyed barrier of distance meter, Ω be ultrasonic wave angular error range, by obstacle information P and Ω be converted into part and/
Or the coordinate in global map, and be associated with to corresponding grid, the P and Ω are constant.
Error fault-tolerant processing about ultrasonic range finder 3 has following two modes：The error of the ultrasonic range finder 3
For（- E, E）, then by obstacle information according to error range after direction of error expands corresponding width, with the obstacle after expansion
Object information is converted into the coordinate in part and/or global map, and is associated with to corresponding grid；Alternatively, obstacle information is converted
For the coordinate in part and/or global map, and it is associated with to corresponding grid, according to error range to the grid edge with barrier
The direction of error or it is comprehensive expanded, using the region after expansion as with barrier grid carry out navigation directions.
The length of side of the second way, the grid is δ, when 2E/ δ are less than 1, to the grid with barrier without swollen
It is swollen；When 2E/ δ are more than or equal to 1, the grid with barrier is expanded, the δ is normal number.
Preferably, because the error range of ultrasonic range finder 3 is larger, and the angular error model that Ω itself is ultrasonic ranging
It encloses, has existed certain tolerance amount, if along with the error range of rangefinder, often there is the expansion of obstacle information range
Excessive problem, it is preferred, therefore, that using second of processing mode, when 2E/ δ are less than 1, i.e., ultrasonic range finder 3 exists
When error range at barrier is less than half of grid, to the grid with barrier without expansion；When 2E/ δ are more than or equal to 1
When, i.e., when error of the ultrasonic range finder 3 at barrier is more than half of grid, ultrasonic range finder 3 is to barrier
Grid is expanded.
Embodiment 3
On the basis of embodiment 1 and/or embodiment 2, as shown in figure 3, using depth camera 4 as to laser radar 2
Avoidance supplement, it is more accurate to non-regular shape barrier avoidance.Depth camera 4 is as a kind of alternative in range measurement
Equipment possesses some advantages not available for traditional three-dimension measuring system, such as lower price and higher shooting speed
Deng, while it has more wide visual angle to the shape and height of barrier.
The depth camera 4 measures the obstacle information within the scope of setting height in effective finding range, by barrier
Information is converted into the coordinate in part and/or global map, and is associated with to corresponding grid.The altitude range is（H0, H1）, it is
Calculation amount is further decreased, ensures that robot can with safety, H0Not higher than the walking Earth surface plane of institute of robot, H1
Not less than the peak of robot, the H0And H1For constant.
The combination of laser radar 2, depth camera 4 and/or ultrasonic range finder 3 is corresponding effectively in each distance measuring sensor
Test section real-time update measures obstacle information, and corresponding obstacle information is associated with to corresponding grid, and works as laser radar
2, obstacle information and accessible is had with regard to the test result of same grid between depth camera 4 and/or ultrasonic range finder 3
When the conflict of object information, output has obstacle information.
Because the precision of distance measuring sensor itself is limited, the depth camera 4 exists（- E ,+E）Error range, then exist
Obstacle information is converted to office with the obstacle information after expansion after direction of error expands corresponding width according to error range
Coordinate in portion and/or global map, and be associated with to corresponding grid；Alternatively, converting obstacle information to part and/or the overall situation
Coordinate in map, and being associated with to corresponding grid, according to error range to the grid with barrier along the direction of error or complete
Orientation is expanded, and navigation directions are carried out using the region after expansion as with barrier grid.
Embodiment 4
On the basis of embodiment 1-3 any embodiments, in order to solve the external bad weather such as misty rain or indoor water mist compared with
Laser radar 2 in the case of big, 4 class distance measuring sensor ranging of depth camera are a greater impact the larger situation of error, this skill
Art scheme use the one kind of millimetre-wave radar 5 as range sensor, interruption or all the period of time as distance measuring sensor combine
One of which carries out ranging.
Millimetre-wave radar 5 is to be operated in millimeter wave band（millimeter wave ）The radar of detection.Millimeter wave has concurrently
The advantages of microwave guidance and photoelectric guidance.Compared with the optical seekers such as infrared, laser, TV, millimeter-wave seeker penetrating fog,
Cigarette, the ability of dust are strong, have the characteristics that round-the-clock (except the big rainy day) round-the-clock.Millimetre-wave radar 5 has antenna wave simultaneously
The features such as beam is narrow, high resolution, bandwidth, strong interference resistance, thus there is anti-stealth ability.With imaging capability, small,
Mobility and good concealment.
As shown in figure 4, the combination of laser radar 2, ultrasonic distance measuring apparatus, depth camera 4 and millimetre-wave radar 5 has corresponding
Effect test section real-time update measures obstacle information, and corresponding obstacle information is associated with to corresponding grid, and works as laser thunder
Barrier is had up to the test result with regard to same grid between 2, ultrasonic range finder 3, depth camera 4 and millimetre-wave radar 5
When the conflict of information and clear information, output has obstacle information.
Because the precision of distance measuring sensor itself is limited, the millimetre-wave radar 5 exists（- E ,+E）Error range, then
By obstacle information according to error range after direction of error expands corresponding width, be converted into the obstacle information after expansion
Coordinate in part and/or global map, and be associated with to corresponding grid；Alternatively, converting obstacle information to local and/or complete
Coordinate in local figure, and being associated with to corresponding grid, according to error range to the grid with barrier along the direction of error or
It is comprehensive to be expanded, carry out navigation directions using the region after expansion as with barrier grid.
In conclusion passing through distinguishing sensor detection blind area corresponding in robot traveling process and validity test
Area passes through the obstacle information for the correspondence detection blind area surveyed in the validity test area for having detection blind area neighbouring in robot
It crosses during detection blind area as navigation directions, prevents robot in traveling or turning process because detection blind area can not be measured
Accurate obstacle information, and entire detection blind area is regarded as clear and carries out route planning, reduce robot and barrier
Hinder the probability that object collides, improves the Accuracy and high efficiency of robot navigation.
The technical principle of the utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on the explanation herein,
Those skilled in the art would not require any inventive effort the other specific implementation modes that can associate the utility model,
These modes are fallen within the scope of protection of the utility model.
Claims (3)
1. a kind of robot autonomous navigation device, which is characterized in that including：At least one distance measuring sensor that random device people advances
The controller being connected with the distance measuring sensor, the controller include at least being connected with one of distance measuring sensor
SLAM build module and path navigation module, at least in distance measuring sensor in real time corresponding detection blind area, from robot into
Enter to during leaving the detection blind area, robot obstacle information measured when close to detection blind area is as path navigation
The navigation directions of module, to ensure that robot will not be because the refreshing of real-time complaint message be hit in detection blind area when by barrier
To barrier.
2. robot autonomous navigation device according to claim 1, which is characterized in that the distance measuring sensor includes at least
For part and/or the global laser radar for building figure, the controller includes that the SLAM being connected with laser radar builds module
And path navigation module, distance measuring sensor measure obstacle information in validity test area real-time update, and by corresponding barrier
Information association to corresponding grid, and between different distance measuring sensors just the test result of same grid have obstacle information with
When the conflict of clear information, output has obstacle information.
3. a kind of robot, which is characterized in that it is with robot autonomous navigation device as claimed in claim 1 or 2.
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| CN109308073A (en) * | 2018-10-29 | 2019-02-05 | 苏州矽创智能科技有限公司 | A kind of self-navigation avoidance trolley |
| CN109645897A (en) * | 2019-01-10 | 2019-04-19 | 轻客小觅智能科技（北京）有限公司 | A kind of obstacle detection method and system of sweeper |
| TWI679512B (en) * | 2018-10-05 | 2019-12-11 | 東元電機股份有限公司 | Automated guided vehicle |
| CN110858076A (en) * | 2018-08-22 | 2020-03-03 | 杭州海康机器人技术有限公司 | Equipment positioning and grid map construction method and mobile robot |
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| CN109308073A (en) * | 2018-10-29 | 2019-02-05 | 苏州矽创智能科技有限公司 | A kind of self-navigation avoidance trolley |
| CN109645897A (en) * | 2019-01-10 | 2019-04-19 | 轻客小觅智能科技（北京）有限公司 | A kind of obstacle detection method and system of sweeper |
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| CN111708360A (en) * | 2020-05-15 | 2020-09-25 | 科沃斯机器人股份有限公司 | Information acquisition method, device and storage medium |
| WO2021227748A1 (en) * | 2020-05-15 | 2021-11-18 | 科沃斯机器人股份有限公司 | Information collection method, device and storage medium |
| CN111708360B (en) * | 2020-05-15 | 2023-01-31 | 科沃斯机器人股份有限公司 | Information acquisition method, device and storage medium |
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