CN110069057A - A kind of obstacle sensing method based on robot - Google Patents
A kind of obstacle sensing method based on robot Download PDFInfo
- Publication number
- CN110069057A CN110069057A CN201810069508.5A CN201810069508A CN110069057A CN 110069057 A CN110069057 A CN 110069057A CN 201810069508 A CN201810069508 A CN 201810069508A CN 110069057 A CN110069057 A CN 110069057A
- Authority
- CN
- China
- Prior art keywords
- robot
- obstacle
- barrier
- preset direction
- sensing method
- 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.)
- Pending
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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of obstacle sensing methods based on robot, the robot includes controller, ultrasonic distance sensor, video camera, and the obstacle sensing method based on robot is the following steps are included: controller control the first preset direction of Robot walking；Whether there is barrier in front of transmitting ultrasonic listening in the ultrasonic distance sensor preset interval time, if distance of the robot away from front obstacle is less than preset value, starts the video camera；The video camera acquires obstructions chart picture, obtains obstacle identity；According to the obstacle identity, the maximum angle between the line and first preset direction of the outermost profile point of robot lateral edge and the barrier is obtained；The robot deviates the second preset direction walking of the first default angle to the first preset direction, and the first default angle is greater than the maximum angle.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of obstacle sensing methods based on robot.
Background technique
With the continuous development of robot technology, more and more robots start to substitute the various tasks of mankind's execution.Machine
Device people is to automatically control being commonly called as machine (Robot), and automatically controlling machine includes all simulation human behaviors or thought and simulation
The machinery (such as robot dog, Doraemon etc.) of other biological.Have in the narrow sense to the definition of robot there are also many classification and dispute
A little computer programs or even also referred to as robot.In contemporary industry, robot refers to the man-made machine dress that can execute task automatically
It sets, to replace or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, calculating
Machine and artificial intelligence, materialogy and bionic product, scientific circles research and develop to this direction at present, but robot is remote
Process control is still not perfect, and the application of big data is universal not yet, and also in off-line state, robot is deep for the data acquisition of robot
Degree study is also from the storage of native data.
Robot remote control can make operator far from the operating environment of risk, realize the integrated control of robot network
System, increases economic efficiency.
Mobile robot realizes that the key request of independent navigation is exactly avoidance, and avoidance refers to mobile robot according to acquisition
The status information of barrier is pressed when perceiving the static state for interfering it to pass through and dynamic object by sensor in the process of walking
Effectively avoidance is carried out according to certain method, finally reaches target point.So how to plan avoidance route just at the pass of research
Key.
Therefore, how to plan avoidance route, barrier is positioned, record the information of barrier, hit to prevent robot
Upper barrier does not influence the normal walking of robot, becomes those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of obstacle sensing methods based on robot, can accurately plan avoidance route, and
Barrier is positioned, by the driving path for the barrier that detours to map datum storage unit, in the next use when robot,
Reduce time and energy consumption that robot repeats detection barrier.
To achieve the goals above, the present invention provides a kind of obstacle sensing method based on robot, the machines
People includes that positioning unit, controller, ultrasonic distance sensor, video camera, path detection unit and map datum storage are single
Member, the obstacle sensing method based on robot the following steps are included:
Start robot, the robot electric quantity is detected, is alarmed if not enough power supply；The positioning unit is oneself
Current location is positioned, and initial position data is obtained；
Controller control the first preset direction of Robot walking, the path detection unit record the traveling of itself simultaneously
Path；
Whether there is barrier in front of transmitting ultrasonic listening in the ultrasonic distance sensor preset interval time, if robot
When distance away from front obstacle is less than preset value, start the video camera, and by positioning unit to the position of barrier into
Row positioning；
The video camera acquires obstructions chart picture, is split based on the thresholding method of color image to obstructions chart picture, hinders
Hindering object image is bianry image, and the profile of obstructions chart picture is found out with edge following algorithm, and acquired disturbance object image region calculates
The centroid of barrier image-region out draws ray of the homogeneous phase with angle, institute from the centroid to the profile of obstructions chart picture
The focus between ray and the profile of obstructions chart picture is stated as barrier characteristic point；
Distance by the robot away from front obstacle and the barrier characteristic point input neural network, by neural network into
Row fusion treatment obtains obstacle identity and obstacle position information, and obstacle identity and obstacle position information is stored
To map datum storage unit；
According to the obstacle identity, obtain the line of robot lateral edge and the outermost profile point of the barrier with it is described
Maximum angle between first preset direction；
The robot deviates the second preset direction walking of the first default angle, the described first default folder to the first preset direction
Angle is greater than the maximum angle；
The ultrasonic distance sensor judges whether front has barrier, if it is not, controller control Robot the
The walking of one preset direction；If so, the second preset direction walking described in the controller control Robot, the path detection list
The driving path of first recorder people avoiding obstacles, and driving path is stored to map datum storage unit.
Preferably, the quantity of the barrier characteristic point is 32 input nodes as neural network, the nerve net
The output node of network is 8.
Preferably, the maximum value in the output node of the neural network is as obstacle identity.
Preferably, the ultrasonic distance sensor is the ultrasonic distance sensor for including 4*4 sensor matrices.
Preferably, the lowest distance value in distance value that the ultrasonic distance sensor detects is robot and obstacle
The distance between object.
Preferably, when first preset direction of Robot is walked, further includes: the side of the robot is equipped with infrared
Sensor and receiver, the infrared sensor send infrared signal to lateral, and the receiver receives the infrared letter being reflected back
Number, judge whether robot walks on along the first preset direction by the received infrared signal of institute.
Preferably, preset interval time is 50 milliseconds -100 milliseconds.
Obstacle sensing method provided by the invention based on robot, by detecting the type of barrier and to barrier
It is positioned, the track route for avoiding barrier of making rational planning for out, and the track route of avoiding barrier is stored to map number
According to storage unit, can prevent robot from knocking barrier so that robot when encountering barrier also can normal walking, under
When secondary use robot, time and energy consumption that robot repeats detection barrier can be also reduced.
Detailed description of the invention
Fig. 1 is a kind of process signal of specific embodiment of the obstacle sensing method provided by the invention based on robot
Figure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is carried out clearly and completely
Description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Based on this Shen
Please in embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall in the protection scope of this application.
Fig. 1 is please referred to, Fig. 1 is a kind of specific embodiment party of the obstacle sensing method provided by the invention based on robot
The flow diagram of formula.
As shown in Figure 1, the robot includes fixed the present invention provides a kind of obstacle sensing method based on robot
Bit location, controller, ultrasonic distance sensor, video camera, path detection unit and map datum storage unit, the base
In robot obstacle sensing method the following steps are included:
Start robot, the robot electric quantity is detected, is alarmed if not enough power supply；The positioning unit is oneself
Current location is positioned, and initial position data is obtained；
Controller control the first preset direction of Robot walking, the path detection unit record the traveling of itself simultaneously
Path；
Whether there is barrier in front of transmitting ultrasonic listening in the ultrasonic distance sensor preset interval time, if robot
When distance away from front obstacle is less than preset value, start the video camera, and by positioning unit to the position of barrier into
Row positioning；
The video camera acquires obstructions chart picture, is split based on the thresholding method of color image to obstructions chart picture, hinders
Hindering object image is bianry image, and the profile of obstructions chart picture is found out with edge following algorithm, and acquired disturbance object image region calculates
The centroid of barrier image-region out draws ray of the homogeneous phase with angle, institute from the centroid to the profile of obstructions chart picture
The focus between ray and the profile of obstructions chart picture is stated as barrier characteristic point；
Distance by the robot away from front obstacle and the barrier characteristic point input neural network, by neural network into
Row fusion treatment obtains obstacle identity and obstacle position information, and obstacle identity and obstacle position information is stored
To map datum storage unit；
According to the obstacle identity, obtain the line of robot lateral edge and the outermost profile point of the barrier with it is described
Maximum angle between first preset direction；
The robot deviates the second preset direction walking of the first default angle, the described first default folder to the first preset direction
Angle is greater than the maximum angle；
The ultrasonic distance sensor judges whether front has barrier, if it is not, controller control Robot the
The walking of one preset direction；If so, the second preset direction walking described in the controller control Robot, the path detection list
The driving path of first recorder people avoiding obstacles, and driving path is stored to map datum storage unit.
Obstructions chart picture is split based on the thresholding method of color image in the present invention, in obstructions chart picture with face
Relevant H, S component of color does not change with the variation of illumination condition, is illuminated by the light the I component of condition influence and the colour information of image
It is unrelated, RGB image is switched into the image for HIS space, handles the component of two bytes of H, S, under different illumination conditions
The color characteristic of more robust can be obtained.
Obstacle sensing method provided by the invention based on robot is made rational planning for by detecting the type of barrier
The track route of avoiding barrier out can prevent robot from knocking barrier, so that robot also can when encountering barrier
Normal walking.
In preferred scheme, the quantity of the barrier characteristic point is 32 input nodes as neural network, described
The output node of neural network is 8.The quantity of the barrier characteristic point is set as 32, the output section of the neural network
Point is set as 8, can accurately obtain the type of barrier.
In preferred scheme, the maximum value in the output node of the neural network can be prevented as obstacle identity
Barrier is encountered when robot clears the jumps.
In specific scheme, the ultrasonic distance sensor is the ultrasonic distance for including 4*4 sensor matrices
Sensor.
In further embodiment, the lowest distance value in distance value that the ultrasonic distance sensor detects is machine
The distance between people and barrier.
In preferred scheme, when first preset direction of Robot is walked, further includes: the side of the robot is set
There are infrared sensor and receiver, the infrared sensor sends infrared signal to lateral, what the receiver reception was reflected back
Infrared signal judges whether robot walks on along the first preset direction by the received infrared signal of institute.Using this side
Case can prevent robot from deviateing programme path in the process of walking.
In preferred scheme, preset interval time is 50 milliseconds -100 milliseconds, can detect whether front has barrier in time
Hinder object.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings
Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention
Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings,
It should all be within the scope of the present invention.
Claims (7)
1. a kind of obstacle sensing method based on robot, the robot includes positioning unit, controller, ultrasonic distance
Sensor, video camera, path detection unit and map datum storage unit, which is characterized in that the barrier based on robot
Hinder object method for sensing the following steps are included:
Start robot, the robot electric quantity is detected, is alarmed if not enough power supply；The positioning unit is oneself
Current location is positioned, and initial position data is obtained；
Controller control the first preset direction of Robot walking, the path detection unit record the traveling of itself simultaneously
Path；
Whether there is barrier in front of transmitting ultrasonic listening in the ultrasonic distance sensor preset interval time, if robot
When distance away from front obstacle is less than preset value, start the video camera, and by positioning unit to the position of barrier into
Row positioning；
The video camera acquires obstructions chart picture, is split based on the thresholding method of color image to obstructions chart picture, hinders
Hindering object image is bianry image, and the profile of obstructions chart picture is found out with edge following algorithm, and acquired disturbance object image region calculates
The centroid of barrier image-region out draws ray of the homogeneous phase with angle, institute from the centroid to the profile of obstructions chart picture
The focus between ray and the profile of obstructions chart picture is stated as barrier characteristic point；
Distance by the robot away from front obstacle and the barrier characteristic point input neural network, by neural network into
Row fusion treatment obtains obstacle identity and obstacle position information, and obstacle identity and obstacle position information is stored
To map datum storage unit；
According to the obstacle identity, obtain the line of robot lateral edge and the outermost profile point of the barrier with it is described
Maximum angle between first preset direction；
The robot deviates the second preset direction walking of the first default angle, the described first default folder to the first preset direction
Angle is greater than the maximum angle；
The ultrasonic distance sensor judges whether front has barrier, if it is not, controller control Robot the
The walking of one preset direction；If so, the second preset direction walking described in the controller control Robot, the path detection list
The driving path of first recorder people avoiding obstacles, and driving path is stored to map datum storage unit.
2. the obstacle sensing method according to claim 1 based on robot, which is characterized in that the barrier feature
The quantity of point is 32 input nodes as neural network, and the output node of the neural network is 8.
3. the obstacle sensing method according to claim 2 based on robot, which is characterized in that the neural network
Maximum value in output node is as obstacle identity.
4. the obstacle sensing method according to claim 1 based on robot, which is characterized in that the ultrasonic distance
Sensor is the ultrasonic distance sensor for including 4*4 sensor matrices.
5. the obstacle sensing method according to claim 4 based on robot, which is characterized in that the ultrasonic distance
The lowest distance value in distance value that sensor detects is the distance between robot and barrier.
6. the obstacle sensing method according to claim 1 based on robot, which is characterized in that the Robot
When one preset direction is walked, further includes: the side of the robot is equipped with infrared sensor and receiver, the infrared sensor
Infrared signal is sent to lateral, the receiver receives the infrared signal being reflected back, and judges machine by the received infrared signal of institute
Whether device people walks on along the first preset direction.
7. the obstacle sensing method according to claim 1 based on robot, which is characterized in that preset interval time
It is 50 milliseconds -100 milliseconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810069508.5A CN110069057A (en) | 2018-01-24 | 2018-01-24 | A kind of obstacle sensing method based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810069508.5A CN110069057A (en) | 2018-01-24 | 2018-01-24 | A kind of obstacle sensing method based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110069057A true CN110069057A (en) | 2019-07-30 |
Family
ID=67365583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810069508.5A Pending CN110069057A (en) | 2018-01-24 | 2018-01-24 | A kind of obstacle sensing method based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110069057A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111292292A (en) * | 2020-01-16 | 2020-06-16 | 深圳市施罗德工业集团有限公司 | Pipeline obstacle detection method and device, pipeline robot and readable storage medium |
| CN113970917A (en) * | 2020-07-06 | 2022-01-25 | 科沃斯商用机器人有限公司 | Navigation method, device, self-moving robot and storage medium |
| CN115268438A (en) * | 2022-07-18 | 2022-11-01 | 松灵机器人(深圳)有限公司 | Intelligent obstacle avoidance method, device, lawn mowing robot and storage medium |
| CN115933752A (en) * | 2023-02-16 | 2023-04-07 | 杭州硬十科技有限公司 | AI-based unmanned aerial vehicle dynamic obstacle avoidance prediction control method |
| WO2023071967A1 (en) * | 2021-10-29 | 2023-05-04 | 追觅创新科技(苏州)有限公司 | Self-moving device, method for determining obstacle edge of self-moving device, and medium |
| CN117908031A (en) * | 2024-01-20 | 2024-04-19 | 广东图灵智新技术有限公司 | Autonomous navigation system of robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100727033B1 (en) * | 2005-12-07 | 2007-06-12 | 한국전자통신연구원 | Vision processing apparatus and method of network based intelligent service robot and system using the same |
| CN101758827A (en) * | 2010-01-15 | 2010-06-30 | 南京航空航天大学 | Automatic obstacle avoiding method of intelligent detection vehicle based on behavior fusion in unknown environment |
| CN102831298A (en) * | 2012-07-30 | 2012-12-19 | 北京理工大学 | Target real-time path planning method for target generator |
| CN103431812A (en) * | 2013-08-02 | 2013-12-11 | 南京航空航天大学金城学院 | Cleaning robot based on ultrasonic radar detection and travelling control method thereof |
| CN104777839A (en) * | 2015-04-16 | 2015-07-15 | 北京工业大学 | BP neural network and distance information-based robot autonomous obstacle avoiding method |
| CN105425828A (en) * | 2015-11-11 | 2016-03-23 | 山东建筑大学 | Robot anti-impact double-arm coordination control system based on sensor fusion technology |
| CN105511478A (en) * | 2016-02-23 | 2016-04-20 | 百度在线网络技术（北京）有限公司 | Robot cleaner, control method applied to same and terminal |
| CN106054881A (en) * | 2016-06-12 | 2016-10-26 | 京信通信系统（广州）有限公司 | Execution terminal obstacle avoidance method and execution terminal |
| CN106383518A (en) * | 2016-09-29 | 2017-02-08 | 国网重庆市电力公司电力科学研究院 | Multi-sensor tunnel robot obstacle avoidance control system and method |
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
-
2018
- 2018-01-24 CN CN201810069508.5A patent/CN110069057A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100727033B1 (en) * | 2005-12-07 | 2007-06-12 | 한국전자통신연구원 | Vision processing apparatus and method of network based intelligent service robot and system using the same |
| CN101758827A (en) * | 2010-01-15 | 2010-06-30 | 南京航空航天大学 | Automatic obstacle avoiding method of intelligent detection vehicle based on behavior fusion in unknown environment |
| CN102831298A (en) * | 2012-07-30 | 2012-12-19 | 北京理工大学 | Target real-time path planning method for target generator |
| CN103431812A (en) * | 2013-08-02 | 2013-12-11 | 南京航空航天大学金城学院 | Cleaning robot based on ultrasonic radar detection and travelling control method thereof |
| CN104777839A (en) * | 2015-04-16 | 2015-07-15 | 北京工业大学 | BP neural network and distance information-based robot autonomous obstacle avoiding method |
| CN105425828A (en) * | 2015-11-11 | 2016-03-23 | 山东建筑大学 | Robot anti-impact double-arm coordination control system based on sensor fusion technology |
| CN105511478A (en) * | 2016-02-23 | 2016-04-20 | 百度在线网络技术（北京）有限公司 | Robot cleaner, control method applied to same and terminal |
| CN106054881A (en) * | 2016-06-12 | 2016-10-26 | 京信通信系统（广州）有限公司 | Execution terminal obstacle avoidance method and execution terminal |
| CN106383518A (en) * | 2016-09-29 | 2017-02-08 | 国网重庆市电力公司电力科学研究院 | Multi-sensor tunnel robot obstacle avoidance control system and method |
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
Non-Patent Citations (1)
| Title |
|---|
| 戈新良等: "基于多传感器融合的机器人障碍物检测和识别", 《计算机仿真》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111292292A (en) * | 2020-01-16 | 2020-06-16 | 深圳市施罗德工业集团有限公司 | Pipeline obstacle detection method and device, pipeline robot and readable storage medium |
| CN111292292B (en) * | 2020-01-16 | 2023-09-26 | 深圳市施罗德工业集团有限公司 | Pipeline obstacle detection method, device, pipeline robot and readable storage medium |
| CN113970917A (en) * | 2020-07-06 | 2022-01-25 | 科沃斯商用机器人有限公司 | Navigation method, device, self-moving robot and storage medium |
| WO2023071967A1 (en) * | 2021-10-29 | 2023-05-04 | 追觅创新科技(苏州)有限公司 | Self-moving device, method for determining obstacle edge of self-moving device, and medium |
| CN115268438A (en) * | 2022-07-18 | 2022-11-01 | 松灵机器人(深圳)有限公司 | Intelligent obstacle avoidance method, device, lawn mowing robot and storage medium |
| CN115933752A (en) * | 2023-02-16 | 2023-04-07 | 杭州硬十科技有限公司 | AI-based unmanned aerial vehicle dynamic obstacle avoidance prediction control method |
| CN117908031A (en) * | 2024-01-20 | 2024-04-19 | 广东图灵智新技术有限公司 | Autonomous navigation system of robot |
| CN117908031B (en) * | 2024-01-20 | 2024-08-02 | 广东图灵智新技术有限公司 | Autonomous navigation system of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110069057A (en) | A kind of obstacle sensing method based on robot | |
| CN113296495B (en) | Path forming method and device of self-mobile equipment and automatic working system | |
| KR102348041B1 (en) | Control method of robot system including a plurality of moving robots | |
| US11407116B2 (en) | Robot and operation method therefor | |
| Leigh et al. | Person tracking and following with 2d laser scanners | |
| US10127677B1 (en) | Using observations from one or more robots to generate a spatio-temporal model that defines pose values for a plurality of objects in an environment | |
| TWI629150B (en) | Computer implementation method and system using object observation of mobile robot | |
| Argyros et al. | Robot homing by exploiting panoramic vision | |
| CN110069056A (en) | A kind of ambulation control method applied to sweeping robot | |
| US11347226B2 (en) | Method of redefining position of robot using artificial intelligence and robot of implementing thereof | |
| US20110082871A1 (en) | System and method for image mapping and visual attention | |
| CN104737085A (en) | Robot and method for autonomously detecting or handling the ground | |
| CN105760824A (en) | Moving body tracking method and system | |
| Chatterjee et al. | Vision based autonomous robot navigation: algorithms and implementations | |
| WO2017092565A1 (en) | Charging system and charging method, computer storage medium | |
| CN108459596A (en) | A kind of method in mobile electronic device and the mobile electronic device | |
| CN110579215A (en) | Localization method, mobile robot and storage medium based on environment feature description | |
| CN115373408A (en) | Cleaning robot, control method, device, equipment and storage medium thereof | |
| Tölgyessy et al. | The Kinect sensor in robotics education | |
| Sprute et al. | This far, no further: Introducing virtual borders to mobile robots using a laser pointer | |
| Zhang et al. | Optimal robot selection by gaze direction in multi-human multi-robot interaction | |
| CN110065061A (en) | A kind of robot ambulation control method | |
| Ochiai et al. | Remote control system for multiple mobile robots using touch panel interface and autonomous mobility | |
| Tsun et al. | Exploring the performance of a sensor-fusion-based navigation system for human following companion robots | |
| US12001216B2 (en) | Carpet detection method, movement control method, and mobile machine using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190730 |
|
| RJ01 | Rejection of invention patent application after publication |