69results about How to "Achieve obstacle avoidance" patented technology

The invention provides an autonomous navigation method of robot based on video monitoring. The method comprises deployment of a navigation environment and installation of more than one monitoring cameras, and all permissible moving ranges of the robot are monitored and covered by a monitoring device. The method comprises following steps that S1, a host acquires a background image where there is no target object through the monitoring cameras and marks a static obstacle; S2, a posture recognition pattern which can be monitored by the monitoring cameras is drawn on the robot; S3, a target position and a target posture are input on the host, and the host plans a route after recognizing the pattern and the obstacle and carries out analysis and processing according to the posture; and S4, the host controls the robot to move according to the obstacle and the planned route. According to the invention, by use of the independent monitoring device, through the operation and analysis of the host, the precision and the robustness of the positioning are improved.

The invention discloses an intelligent mower based on a laser scanning radar sensor and a control method of the intelligent mower. The intelligent mower comprises a mobile cart body, an image collection device, a steering mechanism, a driving mechanism, the laser scanning radar sensor, a controller, a cutting motor and a height adjustment mechanism; a cutting line is installed on an output shaft of the cutting motor through a transmission device; the height adjustment mechanism is arranged on the mobile cart body, and the cutting motor is arranged on the height adjustment mechanism; the signaloutput end of the image collection device and the signal output end of the laser scanning radar sensor are connected with the signal input end of the controller separately, and the signal output endof the controller is connected with the steering mechanism, the driving mechanism, the cutting motor and the height adjustment mechanism separately. According to the intelligent mower, the height of ato-be-cut lawn can be precisely distinguished through the laser scanning radar sensor, the mowing height can be adjusted according to demands, and the intelligent mower has high mowing quality.

The invention discloses a transformer substation inspection robot positioning and navigation system integrated with multiple sensors. The system is divided into nine functional modules including a positioning module, an obstacle avoidance module, a map management module, a voice control module, an electric quantity monitoring module, a task scheduling module, a navigation module, a bottom layer control module and a safety guarantee module. According to the invention, a laser radar odometer and a visual mileage calculation method are introduced to a substation inspection robot for the first time; the positioning stability and accuracy of the outdoor substation inspection robot can be effectively improved; and meanwhile, a depth camera is introduced into the transformer substation inspectionrobot, low obstacles or pit obstacles in front of the robot can be conveniently obtained, the compatibility and safety of the robot to various environments are improved, and meanwhile the robot has higher automatic navigation and obstacle avoidance capacity in the inspection task.

The invention discloses a visual SLAM-based cognitive point cloud map creation system, and aims at obtaining image pose information by utilizing visual SLAM so as to estimate relative dense reverse depth information of environment, recognizing interested objects in the environment and creating a cognitive point cloud map of the environment. The system comprises a system starting module, a reversedepth map estimation module and a map module, wherein the system starting module is responsible for selecting a first key frame; the reverse depth map estimation module is responsible for estimating areverse depth map of the key frame and selecting a new key frame; and the map module is responsible for maintaining the created cognitive point cloud map, recognizing interested objects in the key frame when the new key frame is added into the map, and visually displaying the map creation. According to the system, the relatively dense cognitive point cloud map of the environment is created by utilizing image information, the map is capable of realizing positioning of mobile robots, obstacle avoidance, autonomous navigation and three-dimensional environment reconstruction, and cognitive information in the map can be used for realizing interaction between the mobile robots and human beings and interaction between the mobile robots and the environment.

The invention discloses a four-wheel independent driving intelligent car system controlled by brain waves and a control method thereof. The system comprises an electroencephalogram (EEG) signal acquisition cap, an EEG signal processing program and a driving control system of a four-wheel independent driving electric car. A user makes corresponding motor imagery for different driving instructions. An electroencephalogram signal is extracted through the EEG acquisition cap and is transmitted to a computer. The computer carries out preprocessing, feature extraction and classification on the received EEG signal. A classification result is used as an instruction and is sent to the electric card driving control system through a wireless communication module. An intelligent electric car of four-wheel independent driving system fault tolerance stability control is realized according to a user brain wave processing result as an execution instruction. According to the system and the control method, the movement range of disabled people with severe dyskinesia can be greatly expanded, at the same time the system and the method can be used for training a motor imagery recognition system, a human-car interaction mode is provided for a user to access an automatic driving vehicle system, and the system and the method have good development and application prospects.

The invention discloses a whisker sensor suitable for an inclined angle between robot perception and a barrier, comprising a laser, a one-dimensional PSD sensor, a whisker, a base and a shell. The whisker sensor belongs to the detection device part of a robot and is arranged on a robot body, and an optical position provided with the whisker sensor is at the front end of the robot body; when the robot body is close to the barrier, the whisker sensor realizes the collection of the inclined angle theta between the whisker and the barrier by the one-dimensional PSD sensor and a laser source arranged on the root part of the whisker and then obtain the inclined angle theta between the machine body and the barrier according to the advancing amount S and the tail end displacement amount W of the machine body; in addition, the whisker sensor can realize the barrier avoidance by turning away from the inclined angle theta.

The invention discloses a coating production safety smart patrolling robot, system and method. Information of a patrolling environment can be acquired to build a three-dimensional map of the patrolling environment; a target object is displayed on the three-dimensional map; and an optimal patrolling path is planned. The patrolling robot can select different patrolling paths for patrolling accordingto different target objects without manual participation, so that labor force is reduced, and the cost is lowered. Meanwhile, the patrolling robot can acquire temperature information, toxic gas concentration information and dust concentration information in the patrolling environment in the patrolling process, and a prediction system performs predictive analysis to predict the change trends of parameters in the future, so that the safety of the patrolling environment is guaranteed.

The invention discloses a low-speed unmanned vehicle obstacle avoidance method, relates to the technical field of automatic driving, and is used for solving the problem that a low-speed unmanned vehicle motion model is not considered in existing obstacle avoidance. The metod comprises the following steps: acquiring a three-dimensional point cloud map and a local grid map; acquiring positioning information according to the three-dimensional point cloud map; detecting an obstacle, obtaining pose information of the obstacle, and judging the distance between the pose information and the positioning information; and when the distance is smaller than a preset threshold, calculating an obstacle avoidance path through a Hybrid A* algorithm according to the local grid map. The invention further discloses a low-speed unmanned vehicle obstacle avoidance device, electronic equipment and a computer storage medium. The low-speed unmanned vehicle obstacle avoidance method combined with a motion modelis realized through the Hybrid A* algorithm.

The invention discloses an automatic-speed-regulation following obstacle-avoiding traveling case based on UWB (Ultra-wide Bandwidth), which comprises a case body, a control system arranged in the casebody, and a drive device, a UWB following system, an obstacle-avoiding system, a fingerprint unlocking module, a burglar alarm device and a bluetooth module electrically connected with the control system, and further comprises a power supply system for supplying power for various electrical apparatus elements. The device can be used for omni-directionally and accurately following a specific moving target within a 500m range. The invention also discloses a following algorithm of the traveling case. The device can be used for realizing intelligent obstacle avoiding according to feedback information of the obstacle-avoiding system, so that the traveling case is protected; the device can be used for regulating speed, and the following speed can be adjusted according to changes of the speed ofan owner, so that the practicability in intelligent following is higher; the device is provided with a double-protection system, which comprises a fingerprint recognition device arranged on the sideof the traveling case so as to be prevented from being opened by others, and an ultrasonic sensor arranged on the top end of the traveling case so as to avoid obstacles such as a human body and otherobjects.

The invention relates to an intelligent autonomous navigation method for reconnaissance of a crawler-type chassis robot. The method comprises the following steps: step 1, acquiring laser radar data ofthe crawler-type chassis robot; 2, according to the obtained laser radar data, constructing a current region map based on an SLAM algorithm, constructing an inspection region global map according tothe current region map, and determining the global position of the robot, wherein the current region map is a topological map; 3, taking the global position of the robot as a base point, automaticallycalculating the direction of an advancing route, and completing the exploration and route planning of an unknown region; and 4, according to the inspection task point and the inspection task, controlling a robot motion system to arrive at the inspection task point to execute the inspection task. According to the intelligent autonomous navigation method for reconnaissance of the crawler-type chassis robot, route planning, autonomous navigation, obstacle avoidance, automatic parking and fixed-point inspection task completion of the wheeled chassis robot can be realized.

The disclosure relates to the technical field of UAVs and in particular to a UAV operating method and system. The UAV operating method includes the following steps of: acquiring and processing the spatial 3D data of a work area, and generating a spatial 3D data model of the work area; generating a flight path of the UAV according to the start position of the UAV, a parameter setting, and the spatial 3D data model of the work area; enabling the UAV to fly and operate according to the flight path. The UAV operating method and system provided by the disclosure can solve the problem that an existing operating UAV needs to manually mark obstacle areas and requires an additional obstacle avoidance system.

The invention discloses an automatic navigation and mapping robot and a control method. By means of a main controller, a radar scanning module, and a speech recognition module, the robot can completea related function by voice input, which is simple to control. Related data of the robot can be viewed in real time by a driving module. Obstacle avoidance, mapping and navigation functions of the robot can be realized by the radar scanning module, an image acquisition module, and the driving module, which is highly intelligent and can perform dangerous work instead of people. The main controllercan transmit an image acquired by the image acquisition module through the network in real time, and the image acquired can be used to determine a robot motion path, so that the obstacle avoidance, mapping and navigation functions of the robot can be realized.

Provided is a torque control method of an industrial robot. The method includes the steps that a dynamic model of the robot is established through identifying kinematical and inertial parameters of each joint; displacement of each joint angle when each joint moves to a terminal point posture state is solved to obtain through inverse kinematics; and the displacement of each joint angle serves as a movement distance, velocity-acceleration planning of each joint is conducted by adopting a sine plus acceleration planning method, and the control torque in the movement path can be solved to obtain by substituting the speed and the acceleration into the dynamic model. The torque control method of the industrial robot is high in control accuracy, can effectively achieve obstacle avoidance and has high safety.

The invention relates to an autonomous navigation and obstacle avoidance unmanned aerial vehicle of laser radar and depth camera fusion. The unmanned aerial vehicle comprises a unmanned aerial vehiclebody, a rotor wing, a depth camera, a control system, a laser radar and a monocular camera. The depth camera, the monocular camera and the laser radar are connected to the control system. The controlsystem analyzes according to data recorded by the three, generates an obstacle avoidance route and makes the unmanned aerial vehicle complete avoidance of an obstacle. Compared with the prior art, the unmanned aerial vehicle of the invention has advantages of accurate positioning, autonomous navigation and obstacle avoidance, simple operation, a high safety factor and the like.

The invention relates to a wheeled chassis robot inspection intelligent autonomous navigation method. The method comprises the following steps: step 1, acquiring multi-sensor data of the wheeled chassis robot; step 2, according to the acquired multi-sensor data, constructing a current region map based on an SLAM algorithm; step 3, based on the basic map and the current area map in the learning mode, fusing and constructing an inspection area global 3D map, and based on the constructed inspection area global 3D map, determining an inspection task point and an inspection task, wherein the basicmap is constructed in advance based on multiple times of video image machine learning; and step 4, based on the determined inspection task point and inspection task, positioning and planning a path inthe map, controlling the robot motion system to arrive at the inspection task point to execute the inspection task, and continuously and accurately searching and expanding the map through machine learning. According to the invention, route planning, autonomous navigation, obstacle avoidance, automatic parking and fixed-point inspection task completion of the wheeled chassis robot can be achieved.

The invention discloses a maritime unmanned aerial vehicle inspection flight path generation method and device and an unmanned aerial vehicle. The method comprises the following steps of: an offshore wind plant three-dimensional model is constructed in advance based on offshore wind plant information and wind turbine information; calling the offshore wind plant three-dimensional model to generate an initial flight path of an unmanned aerial vehicle based on the total quantity of current inspection tasks; and according to the current environment parameters and the parameters of the unmanned aerial vehicle, performing line correction on the initial flight path to generate a final inspection flight path of the unmanned aerial vehicle. The unmanned aerial vehicle self-adaptive inspection is realized, the inspection efficiency of the unmanned aerial vehicle is improved, the inspection risk is reduced, and the detection efficiency of the blade of the wind turbine can be effectively improved.

Provided are a flight control method, a device and an aircraft. The flight control method is applied to the aircraft. The method includes the steps of: determining a reference object (S101) in a flight environment where the aircraft is located; acquiring a distance (S102) between the aircraft and the reference object; obtaining a flight strategy (S103) corresponding to the distance according to the pre-established corresponding relation between the distance, which is between the aircraft and the reference object, and the flight strategy; controlling the aircraft to fly (S104) based on the flight strategy; and realizing effective obstacle avoidance by using the flight control method, the apparatus and the aircraft.

A variable vehicle wheel applied to the center position of a robot and a center position adjusting method comprise an outer wheel ring, a universal transmission mechanism and a self-aligning mechanism. The universal transmission mechanism comprises a connecting disc, a connecting shaft, a transmission rod and a driving shaft; the connecting disc is coaxially fixed to the periphery of the connecting shaft in a sleeved mode and is fixedly connected with the outer wheel ring; the length of the transmission rod is telescopic, one end of the transmission rod is movably connected with the connecting shaft, and the other end is movably connected with the transmission shaft; the aligning mechanism comprises an inner wheel ring and a plurality of linear telescopic devices; the inner wheel ring is coaxially fixed to the transmission shaft in a sleeved mode and can be fixedly connected with a rack; the inner wheel ring serves as the center for multiple linear telescopic devices, and the linear telescopic devices are distributed between the outer wheel ring and the inner wheel ring in a radiating shape; and one end of each linear telescopic device is hinged to the outer wheel ring, and the other end of each linear telescopic device is hinged to the inner wheel ring. The variable vehicle wheel applied to the center position of the robot and the center position adjusting method can realize dynamic control of the center position of the driving shaft in a wheel, and can greatly improve the walking adaptability in a complex environment of the robot.

The invention discloses a pesticide spraying and weeding integrated device. The pesticide spraying and weeding integrated device comprises a traveling plate trailer, a spray head and a telescopic cutting head, the spray head is connected to a pesticide pump through a pesticide spraying pipe, the pesticide pump is connected with a pesticide storage box, the pesticide pump and the pesticide storagebox are installed on the traveling plate trailer, the telescopic cutting head is installed at the bottom of the traveling plate trailer in a suspended mode, the pesticide pump and the telescopic cutting head are driven by the same power mechanism, and the power mechanism is installed on the traveling plate trailer. A weeding mechanism and a pesticide spraying mechanism are integrated on the traveling plate trailer, integration of two functions is achieved, automatic use of the two functions is achieved simultaneously, the efficiency is high, the operation cost is low, time and labor are saved,the telescopic cutting head of a telescopic structure is adopted, the telescopic cutting head can adapt to the uneven ground, tool jamming is avoided, and the operation risk of workers is reduced.

The invention relates to an infrared ranging and guiding method applied to a servo-actuated dolly. According to the method, a module erected by an infrared ranging sensor is used for detecting location information of a followed object in real time, thereby realizing guidance of a servo-actuated dolly by a moving object within a certain range. The method comprises the following steps that: (1), two infrared ranging sensors are arranged on the dolly to erect an infrared ranging sensor device; (2), a two-dimensional coordinate system is established between the dolly and a followed object, the sensors scan corresponding ranges at certain frequencies continuously, and initial position information of the followed object is record; (3), the dolly moves based on the changing location information to realize accurate determination of a moving location, a moving direction, and a moving speed of the followed object, so that the dolly moves by following the target at any time and avoids obstacles in front of the dolly. Therefore, an objective of accurate determination of a moving location, a moving direction, and a moving speed of a target object by a dolly is achieved; and thus the dolly moves by following the target at any time and avoids obstacles in front of the dolly.

The invention relates to the field of medical instruments, in particular to a surgical robot system. The surgical robot system comprises a surgical robot and a mainframe; the surgical robot comprisesa man-machine interface, a driving mechanism and an apparatus structure, the man-machine interface acquires corresponding electrical signals according to human hand actions, and the driving mechanismdrives the apparatus structure to operate according to the electrical signals; the mainframe is internally provided with a controller and a power source, the controller receives the electrical signalsand controls the driving mechanism to operate according to the electrical signals, and the power source supplies power to the driving mechanism. The technical problem that a handheld portion of a surgical robot in the prior art is heavy and not beneficial to long-time operation is solved.

The invention relates to the field of an intelligent robot, in particular to an actuating device, a transmission mechanism, an appliance structure and a robot. The actuating device comprises an actuating frame, an actuator and two transmission cables, wherein the actuating frame is hinged to a seat body; the actuator is hinged into the actuating frame; the deflection direction of the actuator is vertical to the deflection direction of the actuating frame; the two transmission cables are respectively connected with the two sides of the actuator; when one transmission cable is collected and theother transmission cable is released at the same time and at the same amplitude, the actuator deflects; and when the two transmission cables are collected or released at the same time at the same amplitude, the actuating frame deflects. The actuator arranged in the actuating device is pulled by the transmission cables, so that the arrangement of a gear is not needed; a coupling phenomenon does notexist; the structure is greatly simplified; parts are few; the size is small; the integrated arrangement with other driving transmission structures is convenient; miniaturization can be really realized; and the technical problems of many parts, heavy weight, big size and easy occurrence of coupling of a structure of the robot in the prior art are solved.

The invention discloses a working method of an intelligent shopping cart and the intelligent shopping cart. The intelligent shopping cart comprises a base, an adjustable support and a shopping basket used for containing commodities, all of which are sequentially connected from bottom to top. The shopping basket is provided with a depth camera and a scanning camera, the base comprises an industrial personal computer, a bottom layer control panel, an inertial measurement unit, an odometer, a wireless communication positioning module, a plurality of direct current motors and a plurality of Mecanum wheels, and a laser radar module is installed on the shopping basket or the base. Automatic target following, intelligent navigation and autonomous obstacle avoidance can be realized according to data acquired by the depth camera, the scanning camera, the inertial measurement unit, the odometer and the laser radar module, diversified requirements of customers can be met, more convenient shopping experience is provided, and the intelligent shopping cart has a relatively high intelligent level.

The invention relates to an anti-explosion patrolling task control method, a storage medium and a robot. The control method comprises the following steps of navigating to a preset corresponding task point through a cruising unit to execute an anti-explosion patrolling task; acquiring corresponding task data in a process of executing the anti-explosion patrolling task; transmitting the acquired task data to a processor for fusing data; and issuing a command of continually executing the anti-explosion patrolling task or reporting accident information according to a data fusion result by the processor. Through adoption of the anti-explosion patrolling task control method, regular patrolling tasks can be executed; field assistance and emergency handling in an emergency state can be implementedthrough images, sound and the like; and indetectable potential safety hazard can be checked by conventional means. The control method is high in automation degree, stable and accurate, and fire and explosion protection is achieved.

The invention discloses an intelligent selling vehicle which is characterized by comprising a cloud (server), a voice interaction system, an intelligent selling system, a vehicle control system, a remote monitoring terminal and an APP user. The cloud communicates with a vehicle-mounted terminal 5G device in the voice interaction system, the cloud end is in communication connection with the intelligent selling system, the vehicle control system, the remote monitoring end and the APP user at the same time, the voice interaction system is in communication connection with the intelligent selling system and the vehicle control system through the cloud, and the intelligent selling system and the vehicle control system are controlled through the voice interaction system. The intelligent selling vehicle can interact with the intelligent selling system and the vehicle control system through the voice interaction system, all modules in the intelligent selling system can be controlled through voice, the vehicle control system can also be controlled, the unmanned driving and waving parking can be achieved, and goods can be purchased through voice.

The invention discloses a novel autonomous assembly robot path planning autonomous navigation system and method. The system comprises an assembly robot model establishing unit, a camera shooting unit,an obstacle model establishing unit, a point cloud model establishing unit, a joint angle obtaining unit, a single-chip microcomputer, a three-dimensional coordinate system establishing unit, a calculating unit, a judging unit, a moving path detecting unit, a manual adjusting unit and a path exporting unit. The invention relates to the technical field of robots. When the novel autonomous assemblyrobot path planning autonomous navigation system and method are used, the path planning is conducted by introducing an artificial potential field and establishing a three-dimensional coordinate system model, the system and method can adapt to changes of the assembly working environment, obstacles can be effectively avoided, obstacle avoidance of the robot in the process of moving to a target point is achieved, and the service life of the robot is prolonged. The gradient descent algorithm can be optimized from the initial configuration to the final target configuration of the assembly robot, so the robot moves in the direction of reducing potential energy.

The invention belongs to the technical field of nuclear power illumination control, and provides an illumination lamp and an illumination control system and method therefor. According to the invention, the method comprises the steps: employing the illumination lamp comprising a wireless communication module and a first detection module in reactor core refueling illumination of a nuclear power plant; enabling the first detection module to detect the environment information of an environment where the illumination lamp is located; enabling the first detection module to transmit detection information to the wireless communication module when the first detection module detects that there is an obstacle in the movement direction of the illumination lamp; enabling the wireless communication module to feed back the detection information to an external control module, so as to enable the control module to transmit the corresponding control information to an external drive module according to the detection information; enabling the drive module to drive the illumination lamp to change the movement direction according to control information, thereby achieving the obstacle avoiding for the illumination lamp, solving a problem that a conventional reactor core refueling illumination device is liable to collide with an obstacle in a reactor core refueling pool of the nuclear power plant andthen the reactor core refueling illumination device is damaged.

The invention discloses air purifying equipment capable of automatically detecting source. The air purifying equipment capable of automatically detecting the source comprises a robot and an air purifying device, wherein the air purifying device is carried by the robot; the robot comprises a trolley body; the trolley body comprises a frame, a wheel component, an advancing driving motor and a direction steering engine; the air purifying device is arranged on the frame; the air purifying equipment also comprises an automatic control device; the automatic control device comprises a power supply module, a particle concentration sensor, an ultrasonic sensor, a microcontroller and a driving board; and the particle concentration sensor is arranged a position point where the air purification is needed. Through arranging the advancing driving motor and the direction steering engine, the trolley body can advance, retreat, turn left and turn right freely; and the air purifying device can automatically detect a place where a pollution source exists, and carries out the air purification.

The invention discloses a whisker sensor suitable for an inclined angle between robot perception and a barrier, comprising a laser, a one-dimensional PSD sensor, a whisker, a base and a shell. The whisker sensor belongs to the detection device part of a robot and is arranged on a robot body, and an optical position provided with the whisker sensor is at the front end of the robot body; when the robot body is close to the barrier, the whisker sensor realizes the collection of the inclined angle theta between the whisker and the barrier by the one-dimensional PSD sensor and a laser source arranged on the root part of the whisker and then obtain the inclined angle theta between the machine body and the barrier according to the advancing amount S and the tail end displacement amount W of the machine body; in addition, the whisker sensor can realize the barrier avoidance by turning away from the inclined angle theta.

The invention discloses an SLAM-based intelligent control system for a robot. The SLAM-based intelligent control system for the robot comprises a MiniPC, an ARM embedded master controller, a laser radar sensor, a visual sensor, universal wheels, an inertia measurement unit, a ZIGBEE module, an orthogonal code disk and encoder, a camera and a 2D laser sensor, wherein the ARM embedded master controller is connected with the IGBEE module in an interactive manner and is connected with the MiniPC in an interactive manner, and the universal wheels are connected with the laser radar sensor, the ZIGBEE module, the inertia measurement unit, the orthogonal code disk and encoder and the visual sensor. When the SLAM-based intelligent control system is used, data of the inertia measurement unit, the laser radar sensor and the camera are integrated to complement the advantages of all the sensors, so that the mapping and positioning precision of a movable platform is improved, obstacle avoidance in acomplicated environment and in a place with a dense crowd and local dynamic obstacle avoidance are realized, and the robustness of a mobile chassis of the robot during actual operation is improved.