SG11201809892QA - System and method of controlling obstacle avoidance of robot, robot and storage medium - Google Patents
System and method of controlling obstacle avoidance of robot, robot and storage mediumInfo
- Publication number
- SG11201809892QA SG11201809892QA SG11201809892QA SG11201809892QA SG11201809892QA SG 11201809892Q A SG11201809892Q A SG 11201809892QA SG 11201809892Q A SG11201809892Q A SG 11201809892QA SG 11201809892Q A SG11201809892Q A SG 11201809892QA SG 11201809892Q A SG11201809892Q A SG 11201809892QA
- Authority
- SG
- Singapore
- Prior art keywords
- robot
- obstacle
- storage medium
- controlling
- positioning data
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 4
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
- G05D1/02—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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
-
- 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
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—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
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/12—Bounding box
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Geometry (AREA)
- Computer Graphics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710186581.6A CN107688342B (zh) | 2017-03-27 | 2017-03-27 | 机器人的避障控制系统及方法 |
PCT/CN2017/091368 WO2018176668A1 (zh) | 2017-03-27 | 2017-06-30 | 机器人的避障控制系统、方法、机器人及存储介质 |
Publications (1)
Publication Number | Publication Date |
---|---|
SG11201809892QA true SG11201809892QA (en) | 2018-12-28 |
Family
ID=61152364
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SG11201809892QA SG11201809892QA (en) | 2017-03-27 | 2017-06-30 | System and method of controlling obstacle avoidance of robot, robot and storage medium |
Country Status (9)
Country | Link |
---|---|
US (1) | US11059174B2 (zh) |
EP (1) | EP3410246B1 (zh) |
JP (1) | JP6716178B2 (zh) |
KR (1) | KR102170928B1 (zh) |
CN (1) | CN107688342B (zh) |
AU (1) | AU2017404562B2 (zh) |
SG (1) | SG11201809892QA (zh) |
TW (1) | TWI662388B (zh) |
WO (1) | WO2018176668A1 (zh) |
Families Citing this family (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108717302B (zh) * | 2018-05-14 | 2021-06-25 | 平安科技(深圳)有限公司 | 机器人跟随人物方法、装置及存储介质、机器人 |
CN109461185B (zh) * | 2018-09-10 | 2021-08-17 | 西北工业大学 | 一种适用于复杂场景的机器人目标主动避障方法 |
CN109465835A (zh) * | 2018-09-25 | 2019-03-15 | 华中科技大学 | 一种动态环境下双臂服务机器人作业的事前安全预测方法 |
TWI721324B (zh) * | 2018-10-10 | 2021-03-11 | 鴻海精密工業股份有限公司 | 電子裝置及立體物體的判斷方法 |
CN109284574B (zh) * | 2018-10-25 | 2022-12-09 | 西安科技大学 | 一种串联桁架结构体系非概率可靠性分析方法 |
KR102190101B1 (ko) * | 2019-03-08 | 2020-12-11 | (주)아이로텍 | 로봇의 장애물 충돌 회피를 위한 경로 안내툴 표시 방법 및 이를 이용한 충돌 회피 시뮬레이션 시스템 |
CN110442126A (zh) * | 2019-07-15 | 2019-11-12 | 北京三快在线科技有限公司 | 一种移动机器人及其避障方法 |
CN110390829A (zh) * | 2019-07-30 | 2019-10-29 | 北京百度网讯科技有限公司 | 交通信号灯识别的方法及装置 |
CN112445209A (zh) * | 2019-08-15 | 2021-03-05 | 纳恩博(北京)科技有限公司 | 机器人的控制方法和机器人、存储介质及电子装置 |
CN111046743B (zh) * | 2019-11-21 | 2023-05-05 | 新奇点智能科技集团有限公司 | 一种障碍物信息标注方法、装置、电子设备和存储介质 |
CN111207750A (zh) * | 2019-12-31 | 2020-05-29 | 合肥赛为智能有限公司 | 一种机器人动态路径规划方法 |
CN111168675B (zh) * | 2020-01-08 | 2021-09-03 | 北京航空航天大学 | 一种家用服务机器人的机械臂动态避障运动规划方法 |
CN111449666B (zh) * | 2020-03-09 | 2023-07-04 | 北京东软医疗设备有限公司 | 距离监测方法、装置、血管机、电子设备及存储介质 |
JP2021146905A (ja) * | 2020-03-19 | 2021-09-27 | 本田技研工業株式会社 | 制御装置、制御方法およびプログラム |
CN111571582B (zh) * | 2020-04-02 | 2023-02-28 | 上海钧控机器人有限公司 | 一种艾灸机器人人机安全监控系统及监控方法 |
CN111427355B (zh) * | 2020-04-13 | 2023-05-02 | 京东科技信息技术有限公司 | 障碍物数据处理方法、装置、设备及存储介质 |
JP7447670B2 (ja) * | 2020-05-15 | 2024-03-12 | トヨタ自動車株式会社 | 自律移動装置制御システム、その制御方法及びその制御プログラム |
US11292132B2 (en) * | 2020-05-26 | 2022-04-05 | Edda Technology, Inc. | Robot path planning method with static and dynamic collision avoidance in an uncertain environment |
CN111857126A (zh) * | 2020-05-29 | 2020-10-30 | 深圳市银星智能科技股份有限公司 | 一种机器人避障方法、机器人以及存储介质 |
CN111958590B (zh) * | 2020-07-20 | 2021-09-28 | 佛山科学技术学院 | 一种复杂三维环境中机械臂防碰撞方法及系统 |
CN112148013A (zh) * | 2020-09-25 | 2020-12-29 | 深圳优地科技有限公司 | 机器人避障方法、机器人及存储介质 |
CN112415532B (zh) * | 2020-11-30 | 2022-10-21 | 上海炬佑智能科技有限公司 | 灰尘检测方法、距离检测装置以及电子设备 |
CN112704878B (zh) * | 2020-12-31 | 2023-04-18 | 深圳市乙亥互娱信息科技有限公司 | 集群游戏中的单位位置调整方法、系统、设备及存储介质 |
CN112991527B (zh) * | 2021-02-08 | 2022-04-19 | 追觅创新科技(苏州)有限公司 | 目标对象的躲避方法及装置、存储介质、电子装置 |
CN113119109A (zh) * | 2021-03-16 | 2021-07-16 | 上海交通大学 | 基于伪距离函数的工业机器人路径规划方法和系统 |
CN113110594B (zh) * | 2021-05-08 | 2022-05-17 | 北京三快在线科技有限公司 | 控制无人机避障的方法、装置、存储介质及无人机 |
CN113282984A (zh) * | 2021-05-21 | 2021-08-20 | 长安大学 | 一种公共场所人员应急疏散模拟方法 |
CN113459090A (zh) * | 2021-06-15 | 2021-10-01 | 中国农业大学 | 码垛机器人的智能避障方法、电子设备及介质 |
US11753045B2 (en) * | 2021-06-22 | 2023-09-12 | Waymo Llc | Modeling positional uncertainty of moving objects using precomputed polygons |
CN113601497B (zh) * | 2021-07-09 | 2024-02-06 | 广东博智林机器人有限公司 | 一种方法、装置、机器人及存储介质 |
CN113752265B (zh) * | 2021-10-13 | 2024-01-05 | 国网山西省电力公司超高压变电分公司 | 一种机械臂避障路径规划方法、系统及装置 |
KR102563074B1 (ko) * | 2021-10-20 | 2023-08-02 | 금오공과대학교 산학협력단 | 차동 구동형 이동로봇의 운동역학을 고려한 장애물 회피 및 경로 추종방법 |
CN114035569B (zh) * | 2021-11-09 | 2023-06-27 | 中国民航大学 | 一种航站楼载人机器人路径拓展通行方法 |
CN114161047B (zh) * | 2021-12-23 | 2022-11-18 | 南京衍构科技有限公司 | 一种用于增材制造的焊枪头自动避障方法 |
CN114355914B (zh) * | 2021-12-27 | 2022-07-01 | 盐城工学院 | 用于无人船的自主巡航系统及控制方法 |
CN114227694B (zh) * | 2022-01-10 | 2024-05-03 | 珠海一微半导体股份有限公司 | 一种基于地插检测的机器人控制方法、芯片及机器人 |
CN114859904B (zh) * | 2022-04-24 | 2023-04-07 | 汕头大学 | 一种基于e-grn的集群围捕方法、执行装置和系统 |
CN114859914B (zh) * | 2022-05-09 | 2023-04-07 | 广东利元亨智能装备股份有限公司 | 障碍物检测方法、装置、设备及存储介质 |
CN115202350B (zh) * | 2022-07-15 | 2023-06-09 | 盐城工学院 | 一种agv小车的自动运输系统 |
CN115437388B (zh) * | 2022-11-09 | 2023-01-24 | 成都朴为科技有限公司 | 一种全向移动机器人脱困方法和装置 |
CN115507857B (zh) * | 2022-11-23 | 2023-03-14 | 常州唯实智能物联创新中心有限公司 | 高效机器人运动路径规划方法及系统 |
CN115890676A (zh) * | 2022-11-28 | 2023-04-04 | 深圳优地科技有限公司 | 机器人控制方法、机器人及存储介质 |
CN116755562B (zh) * | 2023-07-04 | 2024-04-05 | 深圳市仙瞬科技有限公司 | 一种避障方法、装置、介质及ar/vr设备 |
CN117093005B (zh) * | 2023-10-16 | 2024-01-30 | 华东交通大学 | 一种智能汽车自主避障方法 |
CN117207202B (zh) * | 2023-11-09 | 2024-04-02 | 国网山东省电力公司东营供电公司 | 带电作业机器人防碰撞约束控制方法、系统、终端及介质 |
CN117406758B (zh) * | 2023-12-14 | 2024-03-12 | 双擎科技(杭州)有限公司 | 一种机器人避障装置及机器人智能防碰系统 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7164117B2 (en) * | 1992-05-05 | 2007-01-16 | Automotive Technologies International, Inc. | Vehicular restraint system control system and method using multiple optical imagers |
JP3425760B2 (ja) * | 1999-01-07 | 2003-07-14 | 富士通株式会社 | 干渉チェック装置 |
US7734387B1 (en) * | 2006-03-31 | 2010-06-08 | Rockwell Collins, Inc. | Motion planner for unmanned ground vehicles traversing at high speeds in partially known environments |
EP1901150B1 (en) | 2006-09-14 | 2008-10-29 | Abb Research Ltd. | A method and device for avoiding collisions between an industrial robot and an object |
US8840838B2 (en) * | 2011-09-25 | 2014-09-23 | Theranos, Inc. | Centrifuge configurations |
JP2014018912A (ja) | 2012-07-18 | 2014-02-03 | Seiko Epson Corp | ロボット制御装置、ロボット制御方法およびロボット制御プログラムならびにロボットシステム |
JP2014056506A (ja) * | 2012-09-13 | 2014-03-27 | Toyota Central R&D Labs Inc | 障害物検出装置及びそれを備えた移動体 |
US9227323B1 (en) | 2013-03-15 | 2016-01-05 | Google Inc. | Methods and systems for recognizing machine-readable information on three-dimensional objects |
US20150202770A1 (en) * | 2014-01-17 | 2015-07-23 | Anthony Patron | Sidewalk messaging of an autonomous robot |
TWI555524B (zh) | 2014-04-30 | 2016-11-01 | 國立交通大學 | 機器人的行動輔助系統 |
US9454151B2 (en) * | 2014-05-20 | 2016-09-27 | Verizon Patent And Licensing Inc. | User interfaces for selecting unmanned aerial vehicles and mission plans for unmanned aerial vehicles |
KR101664575B1 (ko) * | 2014-11-07 | 2016-10-10 | 재단법인대구경북과학기술원 | 모바일 로봇의 장애물 회피 시스템 및 방법 |
US10586464B2 (en) * | 2015-07-29 | 2020-03-10 | Warren F. LeBlanc | Unmanned aerial vehicles |
CN106227218A (zh) * | 2016-09-27 | 2016-12-14 | 深圳乐行天下科技有限公司 | 一种智能移动设备的导航避障方法及装置 |
CN106406312B (zh) | 2016-10-14 | 2017-12-26 | 平安科技(深圳)有限公司 | 导览机器人及其移动区域标定方法 |
-
2017
- 2017-03-27 CN CN201710186581.6A patent/CN107688342B/zh active Active
- 2017-06-30 KR KR1020187018065A patent/KR102170928B1/ko active IP Right Grant
- 2017-06-30 SG SG11201809892QA patent/SG11201809892QA/en unknown
- 2017-06-30 EP EP17897209.7A patent/EP3410246B1/en active Active
- 2017-06-30 WO PCT/CN2017/091368 patent/WO2018176668A1/zh active Application Filing
- 2017-06-30 US US16/084,231 patent/US11059174B2/en active Active
- 2017-06-30 JP JP2018533757A patent/JP6716178B2/ja active Active
- 2017-06-30 AU AU2017404562A patent/AU2017404562B2/en active Active
- 2017-10-13 TW TW106135246A patent/TWI662388B/zh active
Also Published As
Publication number | Publication date |
---|---|
JP6716178B2 (ja) | 2020-07-01 |
CN107688342B (zh) | 2019-05-10 |
EP3410246B1 (en) | 2021-06-23 |
AU2017404562B2 (en) | 2020-01-30 |
US20210078173A1 (en) | 2021-03-18 |
US11059174B2 (en) | 2021-07-13 |
KR20190022435A (ko) | 2019-03-06 |
EP3410246A4 (en) | 2019-11-06 |
TWI662388B (zh) | 2019-06-11 |
CN107688342A (zh) | 2018-02-13 |
WO2018176668A1 (zh) | 2018-10-04 |
TW201835703A (zh) | 2018-10-01 |
JP2019516146A (ja) | 2019-06-13 |
AU2017404562A1 (en) | 2018-10-11 |
KR102170928B1 (ko) | 2020-10-29 |
EP3410246A1 (en) | 2018-12-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
SG11201809892QA (en) | System and method of controlling obstacle avoidance of robot, robot and storage medium | |
JP6849330B2 (ja) | 地図生成方法、自己位置推定方法、ロボットシステム、およびロボット | |
WO2018158248A3 (de) | Verfahren zur steuerung eines autonomen, mobilen roboters | |
NZ728053A (en) | Humanoid robot with collision avoidance and trajectory recovery capabilities | |
US11117261B2 (en) | Motion trajectory generation apparatus | |
KR101679482B1 (ko) | 장애물 회피를 위한 멀티로봇 시스템 및 장애물 회피를 위한 스위칭 대형 전략을 이용하는 방법 | |
US9207674B2 (en) | Autonomous moving robot and control method thereof | |
MX2017014181A (es) | Seguimiento de objetos mediante el uso de fusion de sensores dentro de un sistema probabilistico. | |
US20130166134A1 (en) | Autonomous mobile body | |
KR101664575B1 (ko) | 모바일 로봇의 장애물 회피 시스템 및 방법 | |
MX2019012357A (es) | Metodo de asistencia al desplazamiento y dispositivo de asistencia al desplazamiento. | |
WO2016124999A8 (en) | Apparatus and method for navigation control | |
EP3738009A4 (en) | ROBOTIC AUTONOMOUS MOVEMENT AND NAVIGATION PLANNING SYSTEM AND METHODS | |
JP2017521761A (ja) | 自律ロボットの障害物の不在および存在の一方の確率のマップを構築する方法 | |
EP2963515A3 (en) | Robot cleaner and method for controlling the same | |
EP2806325A3 (en) | Domestic robotic system and robot therefor | |
JP2015138489A (ja) | ロボット、及びその制御方法 | |
EP3159766B1 (en) | Method and system thereof for adjusting and controlling position of movable household appliance relative to person | |
JP2019113926A (ja) | モデル予測制御装置 | |
WO2018101631A3 (ko) | 청소 로봇, 청소 로봇에 구비되는 청소 기능 제어 장치, 및 청소 로봇에 구비되는 다채널 라이더 기반 장애물 검출 장치 | |
MX2019000759A (es) | Metodo de estimacion de la posicion propia y dispositivo de estimacion de la posicion propia. | |
JP2012068895A (ja) | ロボット | |
WO2018187349A3 (en) | Processing a request signal regarding operation of an autonomous vehicle | |
Cuevas-Velasquez et al. | Hybrid multi-camera visual servoing to moving target | |
JP5803769B2 (ja) | 移動ロボット |