DE102017120218A1 - Bewegungsplanung für autonome mobile roboter - Google Patents

Bewegungsplanung für autonome mobile roboter Download PDF

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Publication number
DE102017120218A1
DE102017120218A1 DE102017120218.8A DE102017120218A DE102017120218A1 DE 102017120218 A1 DE102017120218 A1 DE 102017120218A1 DE 102017120218 A DE102017120218 A DE 102017120218A DE 102017120218 A1 DE102017120218 A1 DE 102017120218A1
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DE
Germany
Prior art keywords
robot
contour
movement
obstacle
path
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.)
Ceased
Application number
DE102017120218.8A
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German (de)
English (en)
Inventor
Reinhard Vogel
Harold Artes
Christoph Freudenthaler
Ivo Knittel
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.)
Robart GmbH
Original Assignee
Robart GmbH
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 Robart GmbH filed Critical Robart GmbH
Priority to DE102017120218.8A priority Critical patent/DE102017120218A1/de
Priority to JP2020512007A priority patent/JP2020532018A/ja
Priority to US16/642,285 priority patent/US20210154840A1/en
Priority to PCT/EP2018/073497 priority patent/WO2019043171A1/de
Priority to CN201880071257.2A priority patent/CN111433697A/zh
Priority to EP18762517.3A priority patent/EP3676680A1/de
Publication of DE102017120218A1 publication Critical patent/DE102017120218A1/de
Ceased legal-status Critical Current

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    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DE102017120218.8A 2017-09-01 2017-09-01 Bewegungsplanung für autonome mobile roboter Ceased DE102017120218A1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE102017120218.8A DE102017120218A1 (de) 2017-09-01 2017-09-01 Bewegungsplanung für autonome mobile roboter
JP2020512007A JP2020532018A (ja) 2017-09-01 2018-08-31 自律移動ロボットの移動計画
US16/642,285 US20210154840A1 (en) 2017-09-01 2018-08-31 Movement Planning For Autonomous Robots
PCT/EP2018/073497 WO2019043171A1 (de) 2017-09-01 2018-08-31 Bewegungsplanung für autonome mobile roboter
CN201880071257.2A CN111433697A (zh) 2017-09-01 2018-08-31 用于自主移动机器人的运动规划
EP18762517.3A EP3676680A1 (de) 2017-09-01 2018-08-31 Bewegungsplanung für autonome mobile roboter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017120218.8A DE102017120218A1 (de) 2017-09-01 2017-09-01 Bewegungsplanung für autonome mobile roboter

Publications (1)

Publication Number Publication Date
DE102017120218A1 true DE102017120218A1 (de) 2019-03-07

Family

ID=63449477

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102017120218.8A Ceased DE102017120218A1 (de) 2017-09-01 2017-09-01 Bewegungsplanung für autonome mobile roboter

Country Status (6)

Country Link
US (1) US20210154840A1 (enExample)
EP (1) EP3676680A1 (enExample)
JP (1) JP2020532018A (enExample)
CN (1) CN111433697A (enExample)
DE (1) DE102017120218A1 (enExample)
WO (1) WO2019043171A1 (enExample)

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CN115932882A (zh) * 2021-08-25 2023-04-07 海克斯康地球系统服务公开股份有限公司 通过自主机器人载具提供环境的3d探测的系统
CN116069033A (zh) * 2020-05-15 2023-05-05 科沃斯机器人股份有限公司 信息采集方法、设备及存储介质
CN117428774A (zh) * 2023-11-23 2024-01-23 中国船舶集团有限公司第七一六研究所 一种用于船舶巡检的工业机器人控制方法及系统
EP4266142A4 (en) * 2020-12-16 2024-10-09 Beijing Geekplus Technology Co., Ltd. Robot and localization method

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US20210294348A1 (en) * 2018-08-08 2021-09-23 Positec Power Tools (Suzhou) Co., Ltd. Self-moving device, automatic working system, and control method therefor
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JP2022512438A (ja) * 2018-12-12 2022-02-03 ブレーン コーポレーション 非ホロノミックロボットシステムの改善された制御のためのシステム及び方法
US11986964B2 (en) * 2018-12-27 2024-05-21 Honda Motor Co., Ltd. Path determination device, robot, and path determination method
US11724395B2 (en) * 2019-02-01 2023-08-15 Locus Robotics Corp. Robot congestion management
WO2020235161A1 (ja) * 2019-05-21 2020-11-26 株式会社スパイシードローンキッチン 無人移動体を用いた映像処理システム、映像処理方法及び映像処理装置
JPWO2021065241A1 (enExample) * 2019-09-30 2021-04-08
CN112155476B (zh) * 2020-09-16 2021-07-20 珠海格力电器股份有限公司 一种机器人的控制方法、装置、电子设备及存储介质
CN114518744A (zh) * 2020-10-30 2022-05-20 深圳乐动机器人有限公司 机器人的脱困方法、装置、机器人及存储介质
US11940800B2 (en) * 2021-04-23 2024-03-26 Irobot Corporation Navigational control of autonomous cleaning robots
CN113238552B (zh) * 2021-04-28 2024-11-12 优地机器人(无锡)股份有限公司 机器人及其运动方法、装置及计算机可读存储介质
CN113219973B (zh) * 2021-05-08 2022-06-24 浙江工业大学 一种移动机器人的局部路径控制方法
CN113741476B (zh) * 2021-09-14 2024-07-23 深圳市优必选科技股份有限公司 机器人平滑运动控制方法、装置及机器人
CN113966976B (zh) * 2021-09-28 2023-09-22 安克创新科技股份有限公司 清洁机器人及用于控制清洁机器人行进的方法
CN116009521B (zh) * 2021-10-22 2026-04-28 深圳市海柔创新科技有限公司 机器人旋转控制方法、装置、设备、机器人及存储介质
CN114326736B (zh) * 2021-12-29 2025-07-04 深圳鹏行智能研究有限公司 跟随路径规划方法以及足式机器人
CN114442629B (zh) * 2022-01-25 2022-08-09 吉林大学 一种基于图像处理的移动机器人路径规划方法
CN114617477B (zh) * 2022-02-15 2023-08-18 深圳乐动机器人股份有限公司 清洁机器人的清洁控制方法及装置
CN114543326B (zh) * 2022-02-28 2025-03-18 深圳电目科技有限公司 排风装置的智能控制方法以及排风装置
CN114506341B (zh) * 2022-02-28 2025-03-25 北京三快在线科技有限公司 一种无人设备的控制方法、装置及电子设备
CN115145261B (zh) * 2022-04-07 2024-04-26 哈尔滨工业大学（深圳） 人机共存下遵循行人规范的移动机器人全局路径规划方法
CN115016472B (zh) * 2022-06-02 2025-07-22 上海思岚科技有限公司 一种机器人全局路径规划的方法及设备
CN115444328B (zh) * 2022-07-29 2023-09-29 云鲸智能(深圳)有限公司 障碍物探索方法、清洁机器人及存储介质
TWI825896B (zh) * 2022-08-03 2023-12-11 優式機器人股份有限公司 環境整理控制方法
EP4572918A4 (en) * 2022-08-19 2026-04-29 Qfeeltech Beijing Co Ltd METHOD FOR CONTROLLING THE MOVEMENT OF AN AUTONOMOUS MOBILE DEVICE
CN122331552A (zh) * 2022-09-07 2026-07-03 北京极智嘉科技股份有限公司 多机器人路径规划方法及装置
JP7533554B2 (ja) * 2022-10-25 2024-08-14 株式会社豊田中央研究所 自律移動体制御システム、自律移動体制御方法、及び自律移動体制御プログラム
CN115599128B (zh) * 2022-11-02 2024-12-31 泉州装备制造研究所 基于跟随机器人跟随模式动态调整方法、装置及可读介质
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CN118769233A (zh) * 2023-04-03 2024-10-15 苏州宝时得电动工具有限公司 机器人跨区域异常处理方法、机器人、设备及存储介质
CN119078811A (zh) * 2023-06-05 2024-12-06 库卡机器人(广东)有限公司 碰撞检测方法及装置、自主移动装置、存储介质
KR20250095364A (ko) * 2023-12-19 2025-06-26 삼성전자주식회사 외부 로봇과 함께 주행하는 로봇 및 그 주행 방법
WO2025222070A1 (en) * 2024-04-19 2025-10-23 The Procter & Gamble Company Systems and methods for robotic alley area cleaning
CN119000695B (zh) * 2024-10-18 2025-02-07 陕西威尔机电科技有限公司 一种仪器表面质量检测系统及方法
CN118986195B (zh) * 2024-10-24 2025-03-28 安徽科讯锦瑟科技有限公司 清洁控制方法及相关装置、清洁机器人和存储介质
CN120027811A (zh) * 2025-01-27 2025-05-23 未来机器人（深圳）有限公司 路径规划方法、控制系统及自移动设备
CN121655546B (zh) * 2026-02-09 2026-06-12 浙江大学 一种基于rgb-d图像的无人机三维死路避障引导方法

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CN116069033A (zh) * 2020-05-15 2023-05-05 科沃斯机器人股份有限公司 信息采集方法、设备及存储介质
US12535817B2 (en) 2020-05-15 2026-01-27 Ecovacs Robotics Co., Ltd. Information collection method, device and storage medium
EP4266142A4 (en) * 2020-12-16 2024-10-09 Beijing Geekplus Technology Co., Ltd. Robot and localization method
US12157635B2 (en) 2020-12-16 2024-12-03 Beijing Geekplus Technology Co., Ltd. Robot and positioning method
CN115932882A (zh) * 2021-08-25 2023-04-07 海克斯康地球系统服务公开股份有限公司 通过自主机器人载具提供环境的3d探测的系统
CN117428774A (zh) * 2023-11-23 2024-01-23 中国船舶集团有限公司第七一六研究所 一种用于船舶巡检的工业机器人控制方法及系统

Also Published As

Publication number Publication date
US20210154840A1 (en) 2021-05-27
WO2019043171A1 (de) 2019-03-07
EP3676680A1 (de) 2020-07-08
CN111433697A (zh) 2020-07-17
JP2020532018A (ja) 2020-11-05

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