WO2014089922A1 - Procédé de couverture de carte auto-établie par une plateforme mobile dans une région inconnue - Google Patents

Procédé de couverture de carte auto-établie par une plateforme mobile dans une région inconnue Download PDF

Info

Publication number
WO2014089922A1
WO2014089922A1 PCT/CN2013/070267 CN2013070267W WO2014089922A1 WO 2014089922 A1 WO2014089922 A1 WO 2014089922A1 CN 2013070267 W CN2013070267 W CN 2013070267W WO 2014089922 A1 WO2014089922 A1 WO 2014089922A1
Authority
WO
WIPO (PCT)
Prior art keywords
sub
area
mobile platform
traversed
virtual map
Prior art date
Application number
PCT/CN2013/070267
Other languages
English (en)
Chinese (zh)
Inventor
肖双良
Original Assignee
深圳市银星智能科技股份有限公司
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 深圳市银星智能科技股份有限公司 filed Critical 深圳市银星智能科技股份有限公司
Publication of WO2014089922A1 publication Critical patent/WO2014089922A1/fr

Links

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
    • G05D1/0268—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
    • G05D1/02—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
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface

Definitions

  • the present invention relates to the field of mobile platform technologies, and in particular, to a method for overlaying a mobile platform to build a map in an unknown area.
  • the path planning of the mobile platform in the unknown area has always been the focus and difficulty in the mobile platform field. Because there may be obstacles in the unknown area, the mobile platform cannot achieve full coverage of the area.
  • Chinese patent ZL02137830.4 discloses a path planning method for a smart vacuum cleaner, which performs coverage cleaning after determining the boundary of an unknown area, but when there is an obstacle in the unknown area, the obstacle is first The boundary is confirmed and the cleaning action is performed. The algorithm is very complicated. At the same time, the smart vacuum cleaner repeatedly repeats the cleaned area and reduces the cleaning efficiency of the smart vacuum cleaner.
  • the patent document published in Chinese Patent Application No. 201010106562.6 discloses a Chinese patent. An improvement of the technical solution of ZL02137830.4, which achieves coverage of the entire area by compensating for uncovered areas, but this solution is not suitable for situations where there are excessive obstacles in the work area.
  • the present invention provides a method for covering a self-built map of a mobile platform in an unknown area, which is used to solve the problem that the prior art algorithm is complicated and the coverage rate is low.
  • the technical solution is as follows:
  • the current location of the mobile platform is corresponding to the sub-area where the starting point of the virtual map is located;
  • step (6) Repeat steps (4) through (5) until there is no target sub-area in the virtual map. During the moving process, if an obstacle is detected, the target sub-area is marked as an obstacle sub-area, and then returns to step (3).
  • the method further includes: if the mobile platform cannot reach a target sub-area through the traversed area, mark the target sub-area as an obstacle sub-area, and then return to step (3).
  • the diameter of the minimum coverage circle of each sub-area in the virtual map pre-established by the map storage system is less than or equal to 1/2 of the diameter of the mobile platform in the virtual map, wherein the minimum coverage circle is the edge of the sub-area
  • the two endpoints separated by the furthest distance are circular in diameter.
  • each sub-area in the pre-established virtual map has the same shape and size.
  • the shape of each sub-area in the pre-established virtual map is square.
  • the shape of each sub-area in the pre-established virtual map is a regular hexagon.
  • the present invention divides the unknown area to be covered by the mobile platform into the traversed sub-area and the untraversed sub-area, and the mobile platform covers the entire unknown area by setting the target sub-area in the sub-area adjacent to the traversed area.
  • the algorithm of the method is simple, the coverage rate is high, and the repeated coverage of the mobile platform in the unknown area is reduced, and the coverage efficiency is improved.
  • FIG. 1 is a schematic flowchart of a method for overlaying a self-built map of a mobile platform in an unknown area according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of a mobile platform in an unknown area according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram of the mobile platform in FIG. 2 in a virtual map of the map storage system;
  • FIG. 4 is a schematic diagram of the mobile platform marking adjacent sub-areas in FIG. 3;
  • FIG. 5 is a schematic diagram of a mobile platform selection target sub-area in FIG. 3;
  • FIG. 6 is a schematic diagram of the mobile platform of FIG. 2 after entering the target sub-area
  • FIG. 7 is a schematic diagram of the mobile platform in FIG. 6 in a virtual map of the map storage system
  • FIG. 8 is a schematic diagram of the mobile platform selecting a target sub-area in
  • FIG. 9 is a schematic diagram of the mobile platform of FIG. 7 selecting another adjacent sub-region as a target sub-region
  • FIG. 10 is a schematic diagram of the mobile platform of FIG. 2 after completing the traversal of the unknown region;
  • FIG. 11 is a schematic diagram of the mobile platform of FIG. 10 after traversing in a virtual map of the map storage system;
  • FIG. 12 is a schematic diagram of a mobile platform in an unknown area in Embodiment 2 of the present invention.
  • FIG. 13 is a schematic diagram of the mobile platform in FIG. 12 in a virtual map of the map storage system;
  • FIG. 14 is a schematic diagram of the mobile platform marking adjacent sub-areas in FIG.
  • Figure 15 is a schematic diagram of the mobile platform selection target sub-area of Figure 13;
  • Figure 16 is a schematic diagram of the mobile platform of Figure 12 after entering the target sub-area
  • FIG. 17 is a schematic diagram of the mobile platform in FIG. 16 in a virtual map of the map storage system;
  • FIG. 18 is a schematic diagram of the mobile platform selection target sub-area in FIG.
  • FIG. 19 is a schematic diagram of the mobile platform of FIG. 17 selecting another adjacent sub-region as a target sub-region;
  • 20 is a schematic diagram of the mobile platform of FIG. 12 after completion of traversal of an unknown area
  • 21 is a schematic diagram of the mobile platform of FIG. 20 after traversing in a virtual map of the map storage system;
  • Figure 22 is a schematic diagram of the mobile platform and the obstacle sub-area in the case where the minimum coverage circle diameter of the sub-area is greater than the minimum width 1//2 through which the mobile platform can pass;
  • Figure 23 is a schematic diagram of the mobile platform and the obstacle sub-area in the case where the minimum coverage circle diameter of the sub-area is less than or equal to the minimum width 1//2 through which the mobile platform can pass;
  • Figure 24 is a schematic diagram showing a sub-region in a virtual map of a map storage system being a regular hexagon.
  • the mobile platform implementing the method of the present invention needs to include at least the following functional modules:
  • Obstacle detection system used to detect obstacles around the mobile platform and generate obstacles after sensing obstacles
  • the control system transmitted to the mobile platform includes non-contact sensors such as infrared sensors, ultrasonic sensors, etc., as well as contact sensors such as voltage sensors, mechanical switch sensors, and the like.
  • Relative positioning system It is used to determine the relative position of the moving platform in the region before the movement relative to the moving area, including the direction and distance.
  • the inertial navigation system can be used to calculate the acceleration integral of the mobile platform (using the acceleration).
  • the angular velocity integral (using a gyroscope) is used to obtain relevant information, or the encoder wheel mounted on the driving wheel of the mobile platform is used to calculate the moving distance of the walking wheel to determine the relative position.
  • Map storage system Create a large enough virtual map composed of multiple sub-areas and store the information of each sub-area. You can use a widely used memory chip or memory to represent the information of a sub-area with one byte of data: 0 is used to represent sub-regions that have not been traversed, 1 is used to represent sub-regions that have been traversed, and 2 is used to represent sub-regions with obstacles.
  • the map storage system can also change the information of non-traversed sub-regions from 0 to 1 (traversed Sub-area) or 2 (sub-area with obstacles), then save and update the virtual map.
  • the information marks 0, 1 and 2 of this embodiment are only for distinguishing the states indicating the respective sub-areas, and any character or data may be used to represent different areas as long as they can be recognized by the map storage system.
  • Control system used to control the overall working state of the mobile platform: including causing the mobile platform to perform predetermined actions, and controlling the driving system to change the motion and the moving direction of the mobile platform according to the information fed back by the obstacle detecting system.
  • Embodiment 1 of the present invention provides a method for overlaying a self-built map of a mobile platform in an unknown area, and pre-establishes a virtual map centered on a starting point and including a plurality of sub-areas
  • FIG. 1 is a schematic flowchart of the method. Methods can include:
  • FIG. 2 is a schematic diagram of the mobile platform M in the unknown area in the embodiment, wherein the dotted line mark is convenient for the technician to understand the division of the actual area and corresponding to the sub-area in the virtual map, that is, the mobile platform M is in actual
  • the black area in Figure 2 indicates the obstacle or boundary
  • the white indicates the blank area.
  • S102 Mark the sub-region corresponding to the current location of the mobile platform in the virtual map as having been traversed Area, marks other sub-areas in the virtual map as not traversing sub-areas.
  • the sub-region corresponding to the current position of the mobile platform M (the region where the circle is located) is marked as 1, indicating that the sub-region has been traversed by the mobile platform M, and the other sub-regions are marked as 0, indicating the sub-area that the mobile platform M has not traversed, and then updating the sub-area information in the virtual map and storing it.
  • S103 Determine a target sub-area from the untraversed sub-areas adjacent to the traversed area.
  • the adjacent sub-area refers to a sub-area that the mobile platform can reach from the traversed area without going through the third sub-area.
  • the four sub-areas in the virtual map are square, and the sub-areas connected to the traversed area include four, the four sub-areas are regarded as adjacent sub-areas of the traversed area, and they are marked as B.
  • the adjacent sub-region refers to a sub-region that the mobile platform M can reach from the traversed region without going through the third sub-region, that is, a sub-region having a common edge with the traversed region, and having a common vertex Subregions are not counted as adjacent subregions.
  • any one of the four adjacent sub-regions marked as B is used as the target sub-region, and as shown in FIG. 5, the sub-region below the traversed region is marked as A, that is, the target sub-region.
  • S104 Move the mobile platform from the traversed area to the target sub-area.
  • the mobile platform M moves to the target sub-area A marked in the virtual map.
  • S105 after the mobile platform reaches a certain target sub-area, mark the sub-area corresponding to the current position of the mobile platform as having traversed the sub-area, and determine a target sub-area from the un-traversed sub-area adjacent to the traversed area. .
  • FIG. 6 is a schematic diagram of the mobile platform M in an actual situation to reach another position of the unknown area, that is, a position corresponding to the target sub-area A in the virtual map in FIG. 5. Since there is no obstacle in the position of the actual situation in the target sub-area A in FIG. 5, the mobile platform M can smoothly reach the sub-area corresponding to the target sub-area A. After the mobile platform M reaches the sub-area, as shown in FIG. 7, the sub-area is marked as 1, that is, the sub-area has been traversed, and the other three sub-areas that are not traversed adjacent to the sub-area are marked as B. There are 6 adjacent sub-areas. As shown in FIG.
  • one of the six adjacent sub-regions labeled B is arbitrarily selected as A, that is, the target sub-region. Then update the map sub-area information and store it.
  • S106 It is determined whether the target sub-area exists in the virtual map. If yes, the process goes to step S104, and if no, the process ends.
  • the method further includes: When the mobile platform detects an obstacle in the process of moving to the target sub-area, the target sub-area is marked as an obstacle sub-area, and the process returns to step S103.
  • FIG. 10 shows a schematic diagram of the mobile platform M after the traversal of the unknown region is completed
  • FIG. 11 shows a schematic diagram of the mobile platform M in the virtual map after completing the unknown region.
  • the second embodiment of the present invention provides a method for overlaying a self-built map of a mobile platform in an unknown area, and the implementation process is the same as that of the embodiment.
  • the size of the sub-area in the virtual map is substantially the same as the size of the mobile platform in the virtual map, and in the second embodiment, as shown in FIG.
  • the size of the sub-area in the virtual map is about 1/2 of the size of the mobile platform in the virtual map.
  • S102 Mark the sub-area corresponding to the current position of the mobile platform in the virtual map as the traversed sub-area, and mark the other sub-areas as not traversing the sub-area.
  • the mobile platform M initially occupies 4 sub-areas, so the four sub-areas corresponding to the area occupied by the mobile platform M in the virtual map are marked as 1, that is, the sub-areas have been traversed.
  • S103 Determine a target sub-area from an untraversed sub-area adjacent to the traversed area, where the adjacent sub-area refers to a sub-area that the mobile platform can reach from the traversed area without passing through the third sub-area.
  • the number of untraversed sub-regions adjacent to the traversed region includes eight, as shown in FIG.
  • one sub-region is selected as the target sub-region from the un-traversed sub-region adjacent to the traversed region.
  • the sub-region on the right side of the traversed region may be marked as ⁇ , that is, the target sub-region.
  • S104 Move the mobile platform from the traversed area to the target sub-area. In the middle, it is detected that there is an obstacle on the left side of the moving direction. Therefore, the two adjacent sub-areas with obstacles are marked as 2, that is, the obstacle sub-area.
  • S105 After the mobile platform reaches a certain target sub-area, mark an area in the virtual map corresponding to the current position of the mobile platform as the traversed area, and determine a target from the untraversed sub-area adjacent to the traversed area. Sub-area.
  • FIG. 16 it is a schematic diagram of the mobile platform ⁇ under actual conditions until another position of the unknown area is reached, which corresponds to the target sub-area ⁇ in the virtual map in Fig. 15. Since the mobile platform M can successfully reach the sub-area. After the mobile platform M reaches the sub-area, as shown in FIG. 17, the sub-area and its left sub-area are both marked as 1, that is, the sub-area has been traversed, and the sub-area is adjacent to the left sub-area thereof. The other 4 sub-regions that are not traversed are marked as B, and there are 8 adjacent sub-regions (two have been marked as obstacle sub-regions). As shown in Fig. 18, one of the eight adjacent sub-areas labeled B is arbitrarily selected as A, that is, the target sub-area. The area information of the virtual map sub is then updated and stored.
  • step S106 It is judged whether the target sub-area exists in the virtual map, and if yes, the process goes to step S104, otherwise, the process ends.
  • the size of the mobile platform in the virtual map is approximately virtual.
  • the size of the sub-area in the map is twice as large, and therefore, when there is an obstacle in the area corresponding to the sub-area to the left of the target sub-area, the mobile platform M cannot enter the area.
  • the above method may further include: if the mobile platform detects an obstacle during the movement to the target sub-area, marking the target sub-area as an obstacle sub-area, and returning to step S103.
  • the sub-area on the left side of the target sub-area A is marked as 2, that is, the obstacle sub-area, and then the map sub-area information is updated and stored.
  • the above method may further include: if the mobile platform cannot reach a certain target through the traversed area In the area, the target sub-area is marked as an obstacle sub-area, and the process returns to step S103.
  • the mobile platform M since the mobile platform M cannot enter the target sub-area A as in 18 through the sub-region that has been traversed, it is also marked as 2, that is, the obstacle area, and then the mobile platform M is moved from the remaining 6
  • One of the adjacent sub-regions is selected as the target sub-region, and the process returns to step S103.
  • the schematic diagram of M after the traversal of the unknown region is completed is a schematic diagram of the mobile platform M in the virtual map after completing the unknown region.
  • the side length of the square sub-area in the virtual map is about twice the diameter of the mobile platform M in the virtual map. Therefore, in theory, the mobile platform M can be marked from the arrow in the figure. The direction is past and covers part of the area. In the traversal process of the actual mobile platform, since the two sub-areas in the virtual map are marked as obstacle areas after the obstacles of the two sub-areas are detected on the mobile platform, the mobile platform M does not It will enter the position corresponding to the two sub-areas of the virtual map, so that there are some areas that can be covered theoretically but cannot be covered, so the division of the sub-areas should not be too large.
  • the side length of the square sub-area in the virtual map is less than or equal to 1/2 of the diameter of the mobile platform M in the virtual map. Therefore, in FIG. 23, the mobile platform M cannot theoretically be from two.
  • the sub-areas with obstacles pass in the direction indicated by the arrow.
  • the recommended sub-area is as small as possible, so that the mobile platform M can cover the unknown area as much as possible.
  • the diameter of the smallest coverage circle that can be expressed as a sub-area in the virtual map is less than or equal to the minimum width of the mobile platform in the map storage system. 1/2, where the minimum coverage circle refers to a circle whose diameter is the two end points of the farthest distance apart from the edge of the sub-area, and the minimum width refers to the width of the space through which the mobile platform can pass.
  • FIG. 24 it is a schematic diagram of all the sub-regions in the virtual map in the map storage system are regular hexagons of the same size, which can cover the entire virtual map in six directions, and the adjacent regions of the single sub-region have 6
  • the method and the steps for covering the mobile platform M in the sub-region of the regular hexagon are the same as those in the first embodiment and the second embodiment, and therefore will not be described again.
  • Embodiment 3 of the present invention provides a coverage system for a self-built map of a mobile platform in an unknown area.
  • These include: drive systems, relative positioning systems, map storage systems, and control systems.
  • the drive system is used to drive the displacement of the mobile platform.
  • the relative positioning system is used to determine the relative position of the area where the mobile platform is located after the movement relative to the area before the movement.
  • a map storage system for marking a pre-stored sub-area in a virtual map centered on a starting point and including a plurality of sub-areas as a traversed area.
  • control system configured to: when the mobile platform enters an unknown area, control the map storage subsystem to correspond the starting point of the pre-stored virtual map with the current location of the mobile platform, and control the current location of the map storage subsystem in the virtual map and the mobile platform
  • the sub-region corresponding to the location is marked as having traversed the sub-region, and the other sub-regions in the virtual map are marked as untraversed sub-regions, and a target sub-region is determined from the un-traversed sub-region adjacent to the traversed region; using the relative locator a system determined position, the control drive subsystem moves the mobile platform into an area corresponding to the target sub-area; the control map storage subsystem marks the sub-area corresponding to the current position of the mobile platform in the virtual map as having traversed the sub-area, and Determining a target sub-area from an un-traversed sub-area adjacent to the traversed area.
  • the control system uses the relative positioning system to control the drive system and the map storage system to repeatedly perform the
  • the system provided by the embodiment of the present invention may further include: a fault detection system for detecting a fault.
  • the control system controls the map storage system to mark the target sub-area as the obstacle sub-area.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Cette demande porte sur un procédé de couverture d'une carte auto-établie par une plateforme mobile dans une région inconnue. Une carte virtuelle est établie à l'avance. Le procédé consiste à : 1) lorsque la plateforme mobile pénètre dans la région inconnue, permettre à la position courante de la plateforme mobile de correspondre à une sous-région dans laquelle le point d'origine de la carte virtuelle est situé ; 2) marquer la sous-région correspondant à la position courante de la plateforme mobile comme étant une sous-région traversée et marquer d'autres sous-régions comme étant des sous-régions non traversées ; 3) marquer la sous-région non traversée adjacente à la sous-région traversée comme étant une sous-région cible ; 4) déplacer la plateforme mobile jusqu'à la région correspondant à la sous-région cible ; 5) marquer la sous-région correspondant à la position courante de la plateforme mobile comme étant la sous-région traversée, et déterminer une sous-région cible parmi les sous-régions non traversées adjacentes à la sous-région traversée ; et 6) répéter les étapes 4) et 5) jusqu'à ce qu'il n'existe aucune sous-région cible. Le procédé décrit par cette application est simple à réaliser, possède une grande vitesse de convergence et est apte à réduire le taux de couverture répétée de la plateforme mobile dans la région inconnue.
PCT/CN2013/070267 2012-12-12 2013-01-09 Procédé de couverture de carte auto-établie par une plateforme mobile dans une région inconnue WO2014089922A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210535501.0 2012-12-12
CN2012105355010A CN102968122A (zh) 2012-12-12 2012-12-12 一种用于移动平台在未知区域自建地图的覆盖方法

Publications (1)

Publication Number Publication Date
WO2014089922A1 true WO2014089922A1 (fr) 2014-06-19

Family

ID=47798311

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/070267 WO2014089922A1 (fr) 2012-12-12 2013-01-09 Procédé de couverture de carte auto-établie par une plateforme mobile dans une région inconnue

Country Status (2)

Country Link
CN (1) CN102968122A (fr)
WO (1) WO2014089922A1 (fr)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016115714A1 (fr) * 2015-01-22 2016-07-28 江玉结 Procédé de localisation et de cartographie à base d'étiquette à contraste de couleur et dispositif associé
CN104858871B (zh) * 2015-05-15 2016-09-07 珠海市一微半导体有限公司 机器人系统及其自建地图和导航的方法
CN105302136B (zh) * 2015-09-23 2018-02-23 上海物景智能科技有限公司 一种基于清洁机器人的区域分割方法
CN105843228B (zh) * 2016-04-13 2018-07-13 上海物景智能科技有限公司 一种清洁机器人的地图共享方法及系统
CN107340768B (zh) * 2016-12-29 2020-08-28 珠海市一微半导体有限公司 一种智能机器人的路径规划方法
CN107121142B (zh) * 2016-12-30 2019-03-19 深圳市杉川机器人有限公司 移动机器人的拓扑地图创建方法及导航方法
CN106695790B (zh) * 2017-01-09 2018-04-17 广东宝乐机器人股份有限公司 一种机器人的移动控制方法及机器人
CN106598054B (zh) * 2017-01-16 2019-10-11 深圳优地科技有限公司 机器人路径调整方法及装置
CN106979785B (zh) * 2017-03-24 2020-10-16 北京大学深圳研究生院 一种面向多机器人系统的完全遍历路径规划方法
CN109683556B (zh) * 2017-10-18 2021-02-09 苏州宝时得电动工具有限公司 自移动设备协同作业控制方法、装置和存储介质
CN107752927B (zh) * 2017-11-17 2020-07-14 北京奇虎科技有限公司 清洁机器人的区块调整方法、装置、设备及存储介质
CN107913039B (zh) * 2017-11-17 2020-11-13 北京奇虎科技有限公司 用于清洁机器人的区块选择方法、装置及机器人
CN108387240B (zh) * 2018-01-15 2021-05-11 大连理工大学 一种多层次六边形网格地图的构建方法
CN108827309B (zh) * 2018-06-29 2021-08-17 炬大科技有限公司 一种机器人路径规划方法及具有它的吸尘器
CN109316127A (zh) * 2018-06-29 2019-02-12 炬大科技有限公司 一种扫地机器人洞口检测装置及未知区域探索方法
WO2020014929A1 (fr) * 2018-07-19 2020-01-23 深圳市大疆创新科技有限公司 Procédé de construction de carte, plateforme mobile, et support de stockage lisible par ordinateur
CN110411448B (zh) * 2019-06-14 2021-03-02 青岛科技大学 一种船舶感知区域动态网格内代表船的选取方法
CN110308722A (zh) * 2019-06-28 2019-10-08 北京云迹科技有限公司 用于机器人的自动建图方法及装置
CN112276933A (zh) * 2019-07-24 2021-01-29 广东宝乐机器人股份有限公司 移动机器人的控制方法和移动机器人
CN110989031B (zh) * 2019-10-18 2022-09-27 深圳绿米联创科技有限公司 人体检测方法、装置、系统、电子设备及存储介质
CN113124849B (zh) * 2019-12-30 2023-11-14 广东博智林机器人有限公司 一种室内路径规划方法、装置、电子设备及存储介质
CN111265874B (zh) * 2020-01-20 2023-04-14 网易（杭州）网络有限公司 游戏中目标物的建模方法、装置、设备及存储介质
CN115248588A (zh) * 2021-04-27 2022-10-28 南京泉峰科技有限公司 自移动设备及其运动控制方法
US20230280760A1 (en) * 2022-03-01 2023-09-07 Honda Motor Co., Ltd. Map data having unequal interval

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101297267A (zh) * 2005-09-02 2008-10-29 Neato机器人技术公司 多功能机器人设备
CN102138769A (zh) * 2010-01-28 2011-08-03 深圳先进技术研究院 清洁机器人及其清扫方法
CN102713779A (zh) * 2009-11-06 2012-10-03 进展机器人有限公司 用于通过自主型机器人完全覆盖表面的方法和系统
EP2515196A2 (fr) * 2011-04-19 2012-10-24 LG Electronics Inc. Robot nettoyeur et son procédé de commande

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1468341B1 (fr) * 2002-01-25 2005-12-21 Siemens Aktiengesellschaft Procede, dispositif et programme informatique comprenant des moyens de codage de programmes et produit programme d'ordinateur permettant de planifier des trajectoires respectivement constituees de plusieurs trajectoires partielles pour une unite mobile sur une surface totale
JP2006178664A (ja) * 2004-12-21 2006-07-06 Funai Electric Co Ltd 自走掃除ロボット
CN101201902A (zh) * 2006-12-14 2008-06-18 汤浩钧 基于六角网格的识别系统及识别方法
JP4400664B2 (ja) * 2007-09-26 2010-01-20 株式会社デンソー 車載装置、車載用ナビゲーション装置及びプログラム
KR20090077547A (ko) * 2008-01-11 2009-07-15 삼성전자주식회사 이동 로봇의 경로 계획 방법 및 장치
CN101613806A (zh) * 2009-08-03 2009-12-30 沈阳有色金属研究院 一种固体氯化铅直接低温熔炼生产粗铅的方法
CN201903787U (zh) * 2010-12-24 2011-07-20 深圳市银星智能电器有限公司 基于无线网络通讯的移动机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101297267A (zh) * 2005-09-02 2008-10-29 Neato机器人技术公司 多功能机器人设备
CN102713779A (zh) * 2009-11-06 2012-10-03 进展机器人有限公司 用于通过自主型机器人完全覆盖表面的方法和系统
CN102138769A (zh) * 2010-01-28 2011-08-03 深圳先进技术研究院 清洁机器人及其清扫方法
EP2515196A2 (fr) * 2011-04-19 2012-10-24 LG Electronics Inc. Robot nettoyeur et son procédé de commande

Also Published As

Publication number Publication date
CN102968122A (zh) 2013-03-13

Similar Documents

Publication Publication Date Title
WO2014089922A1 (fr) Procédé de couverture de carte auto-établie par une plateforme mobile dans une région inconnue
KR102526137B1 (ko) 자율이동로봇의 엣지 주행에 대한 제어 방법
JP6622215B2 (ja) 自走式ロボットの障害物回避走行方法
JP6808904B2 (ja) ロボットの移動制御方法及びロボット
US11774980B2 (en) Method for controlling cleaning of robot, chip, and robot cleaner
JP4682973B2 (ja) 移動経路作成方法、自律移動体および自律移動体制御システム
EP3243419B1 (fr) Procédé de commande du déplacement d'un robot, et robot associé
CN114200928B (zh) 智能移动设备及其控制方法、存储介质
KR101566207B1 (ko) 로봇 청소기 및 그 제어방법
EP2870513B1 (fr) Robot mobile autonome et procédé pour son exploitation
US20190129433A1 (en) A path planning method of intelligent robot
JP6007409B2 (ja) 自律移動装置及び自律移動方法
JP2007213236A (ja) 自律走行ロボットの経路計画方法及び自律走行ロボット
JP2017511549A5 (fr)
US9599987B2 (en) Autonomous mobile robot and method for operating the same
JP4670807B2 (ja) 移動経路作成方法、自律移動体および自律移動体制御システム
JP2008059218A (ja) 自律走行ロボットの自己位置回復方法
JPWO2019031168A1 (ja) 移動体および移動体の制御方法
JP2015121928A (ja) 自律移動ロボットの制御方法
CN113031616A (zh) 一种清洁机器人返回路径规划方法、系统和清洁机器人
KR101333496B1 (ko) 과거 지도 데이터 기반의 이동 로봇 제어 장치 및 방법
JP2006293975A (ja) 自律移動装置
KR101412582B1 (ko) 로봇 청소기 및 그 제어 방법
JP2007249631A (ja) 折線追従移動ロボットおよび折線追従移動ロボットの制御方法
JP2008129695A (ja) 移動体の経路生成システム及び経路生成方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13862626

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 25/11/2015)

122 Ep: pct application non-entry in european phase

Ref document number: 13862626

Country of ref document: EP

Kind code of ref document: A1