JP7159291B2 - 自律移動ロボットの経路計画方法、自律移動ロボット及び記憶媒体 - Google Patents

自律移動ロボットの経路計画方法、自律移動ロボット及び記憶媒体 Download PDF

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JP7159291B2
JP7159291B2 JP2020508014A JP2020508014A JP7159291B2 JP 7159291 B2 JP7159291 B2 JP 7159291B2 JP 2020508014 A JP2020508014 A JP 2020508014A JP 2020508014 A JP2020508014 A JP 2020508014A JP 7159291 B2 JP7159291 B2 JP 7159291B2
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mobile robot
autonomous mobile
intermediate position
obstacle information
environment map
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JP2020532786A (ja
JP2020532786A5 (https=
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ジンジュ タン
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Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G01C21/3878—Hierarchical structures, e.g. layering
    • 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
    • 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
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Databases & Information Systems (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Manipulator (AREA)
JP2020508014A 2017-08-25 2018-08-25 自律移動ロボットの経路計画方法、自律移動ロボット及び記憶媒体 Active JP7159291B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201710743056.X 2017-08-25
CN201710743056.XA CN109425352A (zh) 2017-08-25 2017-08-25 自移动机器人路径规划方法
PCT/CN2018/102368 WO2019037790A1 (en) 2017-08-25 2018-08-25 AUTOMOTIVE ROBOT TRACK PLANNING METHOD, AUTOMOTIVE ROBOT, AND INFORMATION CARRIER

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JP2020532786A JP2020532786A (ja) 2020-11-12
JP2020532786A5 JP2020532786A5 (https=) 2020-12-24
JP7159291B2 true JP7159291B2 (ja) 2022-10-24

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US (1) US20190064832A1 (https=)
EP (2) EP3950235B1 (https=)
JP (1) JP7159291B2 (https=)
CN (1) CN109425352A (https=)
WO (1) WO2019037790A1 (https=)

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JP7340350B2 (ja) * 2019-05-07 2023-09-07 東芝テック株式会社 情報処理装置及び情報処理方法
CN110376934B (zh) * 2019-06-12 2024-08-23 上海飞科电器股份有限公司 清洁机器人、清洁机器人控制方法及终端控制方法
CN112578777A (zh) * 2019-09-27 2021-03-30 苏州宝时得电动工具有限公司 自主机器人及其行走路径规划方法、装置和存储介质
CN112817269A (zh) * 2019-11-15 2021-05-18 深圳拓邦股份有限公司 一种遍历作业方法、系统及机器人设备
CN111161424B (zh) * 2019-12-30 2023-06-02 浙江欣奕华智能科技有限公司 一种三维地图的确定方法及确定装置
CN110989635A (zh) * 2019-12-31 2020-04-10 浙江欣奕华智能科技有限公司 扫地机器人的清扫方法及扫地机器人
CN111265158B (zh) * 2020-02-27 2021-08-24 惠州拓邦电气技术有限公司 清洁设备的行走路径规划方法与清洁设备
CN111476892B (zh) * 2020-03-09 2022-12-20 珠海格力电器股份有限公司 路径确定方法、装置、终端设备及存储介质
CN113616836B (zh) * 2020-05-09 2024-07-02 青岛海尔科技有限公司 杀菌方法、系统、终端和可读存储介质
CN111811517A (zh) * 2020-07-15 2020-10-23 中国科学院上海微系统与信息技术研究所 一种动态局部路径规划方法及系统
WO2022052100A1 (en) * 2020-09-14 2022-03-17 Robert Bosch Gmbh Method and apparatus for planning a path for a mobile object
WO2022133697A1 (zh) * 2020-12-22 2022-06-30 北京洛必德科技有限公司 移动机器人地图构建方法、装置、计算机设备和存储介质
CN113189993B (zh) 2021-04-27 2023-08-29 北京石头创新科技有限公司 一种自行走设备避障方法、装置、介质和电子设备
CN114625116A (zh) * 2021-05-06 2022-06-14 北京石头世纪科技股份有限公司 自行走设备避障方法、装置、介质和电子设备
CN113704963B (zh) * 2021-07-19 2024-04-26 深圳优地科技有限公司 机器人测试方法、系统及机器人
CN116654011B (zh) * 2023-05-22 2026-02-06 惠州市德赛西威汽车电子股份有限公司 一种车辆碰撞检测方法及系统
CN119043348A (zh) * 2023-05-24 2024-11-29 神顶科技（南京）有限公司 一种智能路径规划方法及设备
CN118882659B (zh) * 2024-09-29 2025-01-24 国网浙江省电力有限公司 巡检机器人智能巡检方法及系统

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JP2006236098A (ja) 2005-02-25 2006-09-07 Mitsubishi Heavy Ind Ltd 移動体の障害物回避方法及び該移動体
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Publication number Publication date
EP3672762B1 (en) 2021-11-24
EP3672762A4 (en) 2020-10-21
EP3950235A1 (en) 2022-02-09
JP2020532786A (ja) 2020-11-12
US20190064832A1 (en) 2019-02-28
WO2019037790A1 (en) 2019-02-28
EP3950235B1 (en) 2023-11-22
EP3672762A1 (en) 2020-07-01
CN109425352A (zh) 2019-03-05

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