78 results about "Mobile robot control" patented technology

The invention relates to the technical field of mobile robot control, in particular to a multi-modal sensing and decision-making integrated system for a mobile robot, and provides the following scheme: performing joint smooth state estimation on multi-source sensing data to construct a state version diagram containing a time evolution relationship and a version evolution relationship; and under the constraint of an action locking window, establishing an action prefix index structure in combination with a historical action sequence, executing limited search on the state version diagram, and generating an updated action sequence with the minimum difference from the historical action structure. According to the method, the unstable change of event triggering and state machine transition can be inhibited under the condition that the smooth state estimation result is subjected to backtracking correction, the causal consistency and reproducibility of the action sequence are kept, and the operation stability and decision reliability of the mobile robot under the complex working condition are improved.

The invention relates to the technical field of following mobile robots, in particular to a following loading mobile robot control method based on gait recognition and inertia fusion. The method comprises the following steps: presetting a fixed track span as a fixed value L frame; acquiring image data of a target human body, and locking the target human body based on the image data; acquiring inertial data of the robot, fusing the image data and the inertial data, and tracking a target human body; calculating target tracking credibility based on the similarity between the tracking human body gait feature and the initial target human body gait feature; and completing a robot control decision according to the target tracking credibility. The problems that an existing robot depends on beacons and is prone to being lost and rigid in behavior are solved, and the robot is suitable for dynamic indoor scenes such as supermarkets and airports.

The present invention is an autonomous mobile robot (1) that moves by being guided by a plurality of signs that have a plurality of types of sizes, are aligned along a movement path (10), and includes a first sign and a second sign, the autonomous mobile robot (1) including: an imaging unit (26); a storage unit (25) storing individual identification information of each of a plurality of signs and an individual actual size of each of the plurality of signs; and a calculation unit (27) calculating a distance (D1) to the first sign on the basis of a size of the first sign on image data captured by the imaging unit (26) and the individual actual size of the first sign corresponding to the individual identification information of the first sign.

The invention discloses an industrial autonomous mobile robot control method, device and equipment and a medium, is applied to a robot control system based on a hierarchical architecture, and relates to the field of automation, and the method comprises the steps: analyzing an input operation text instruction, and generating a navigation task and a grabbing task of a robot based on an obtained structured subtask sequence; calling preset laser equipment according to the navigation task to generate a three-dimensional semantic map of a target end point corresponding to the operation text instruction, and performing path planning and obstacle avoidance through the three-dimensional semantic map to obtain a target path; calling a preset image acquisition device to acquire a material image of a preset material area according to the grabbing task, and processing the material image to generate a material grabbing parameter; and converting the target path and the material grabbing parameter into a robot scheduling instruction corresponding to the robot, and controlling the robot to execute a navigation task and a grabbing task through the robot scheduling instruction. Therefore, autonomous operation of the industrial robot can be realized in combination with semantic understanding.

1.The name of the design product: intelligent control system box. 2.The use of the design product: the design product belongs to the intelligent robot motion control hardware system platform, which can be used for commercial or industrial floor cleaning robots, patrol robots, sweeping robots, carrying robots and other mobile robot control system boxes. 3.The design points of the design product: in shape. 4.The picture or photo that best indicates the design points: perspective view 1.

This application discloses a lidar, a control method, and related equipment, relating to the field of mobile robot control. The lidar includes: a laser emitting component disposed on a rotating body of the lidar, the laser emitting component being used to emit coded laser light, the coded laser light being used for ranging and communication; a photosensitive component disposed on the rotating body, the photosensitive component being used to receive reflected laser light to obtain ranging information, the reflected laser light being the laser light reflected from the coded laser light onto the measured object and then onto the lidar; and an optoelectronic component disposed on the substrate of the lidar, the optoelectronic component being used to receive the coded laser light to obtain communication information.

The invention discloses a mobile robot control method and system based on multi-source fusion dynamic trajectory re-planning. The method comprises the steps that vehicle kinematics data and environment characteristic observation data are acquired in real time; state prediction is carried out based on a kinematic model; performing multi-dimensional feature extraction and confidence evaluation on the environment features; carrying out measurement updating by utilizing extended Kalman filtering; performing time domain differential analysis on the posterior state; when the state jump is detected, generating a smooth dynamic transition track by taking the current posterior state as a starting point; acquiring predicted curvature information of the front path from the global map; inputting the confidence score and the predictive curvature into a fuzzy logic controller, and calculating the adjustment amount of PID control gain; and calculating a motor control instruction based on the dynamic transition trajectory by using an adaptive PID algorithm, and outputting a final control signal. According to the method, high-precision positioning and stable control can be realized only by depending on a low-cost vehicle-mounted sensor, the cost is low, the universality is high, and the method is suitable for various complex indoor scenes.

The present disclosure relates to distributed positioning systems and methods and self-locating devices. A self-locating device calculates its position relative to transceivers using time-tagged signals transmitted by the transceivers as part of a distributed positioning system. The transceivers and self-locating devices are arranged to use digital and analog reception and transmission electronics and one or more highly precise clocks, compensation units, positioning units, position calibration units, scheduling units or synchronization units for highly precise time tagging. The transceivers and self-locating devices are further arranged to allow full scalability in the number of self-locating devices and to allow robust self-locating with latency and update rates useful for high performance applications such as autonomous mobile robot control.

The application provides a mobile robot control method and device for server carrying, the method comprising: realizing accurate positioning and mapping through a multi-sensor fusion SLAM navigation technology, accurately identifying a target cabinet through a 3D vision system and obtaining installation position information, calculating deviation parameters of a current pose of the server and a target installation position through a feature matching algorithm, and coordinating pose adjustment of a cargo platform and a lifter body based on deviation compensation. Through an integrated multi-dimensional pose compensation control mechanism, the application realizes full-process automatic control of the mobile robot from navigation positioning to accurate alignment, and effectively improves the positioning accuracy and success rate of automatic server installation.

By improving the responsiveness of the drive unit, the disruption of the movement of the mobile body caused by the reversal of the wheels is reduced, enabling stable movement of the mobile body. [Solution] The mobile robot control device 10 includes a robot speed target value acquisition unit 11 that acquires a first speed target value which is the speed target value of the mobile robot 100; a steering axis angle target value calculation unit 12 that calculates an angle target value for the steering axis 23 of the active caster 20 based on the first speed target value; a steering axis angle detection unit 13 that detects the angle of the steering axis 23; a correction speed calculation unit 14 that calculates a correction speed for the drive unit including the first motor 24 and the second motor 25 that promotes the turning of the wheels based on the angle target value and the detected angle; a speed conversion unit 15 that converts the first speed target value into a second speed target value which is the speed target value for the drive unit; and a synthesis unit 16 that synthesizes the second speed target value and the correction speed.

The invention relates to a method (100) for generating mutually synchronized control signals by means of a control system (300) to an elevator system (110) located in a building (100) and to at least one mobile robot (200) operating in the building. The method comprises: receiving (510) a service request from an external system (310); detecting (520) that completion of the requested service requires service from the elevator system (110) and the at least one mobile robot (200); generating (530) a first control signal to the elevator system (110) and a second control signal to the at least one mobile robot (200), the control signals causing the elevator system (110) and the at least one mobile robot (200) to operate in a synchronized manner to complete the service. The invention also relates to a control system and a computer program product.

A mobile robot, a controller, and a mobile robot control method are provided. The mobile robot includes a processor. The processor is configured to execute program instructions to implement the following steps: when it is determined that the mobile robot deviates from a preset path, determining a return point of the preset path that is closest to the mobile robot; generating a temporary path based on the return point; and driving the mobile robot to return to the preset path according to the temporary path.

To provide a technology for easily controlling the group shape of a mobile robot.SOLUTION: A control device for controlling a plurality of mobile robots, the control device comprising: a target position determination unit configured to give input information including information for specifying a shape to be expressed by the plurality of mobile robots to a large scale language model, acquire output information related to a target position of each of the plurality of mobile robots for expressing the shape from the large scale language model, and determine the target position of each of the plurality of mobile robots based on the output information; and an output unit configured to output the target position to the plurality of mobile robots for movement of the plurality of mobile robots.SELECTED DRAWING: Figure 1

This invention relates to the field of mobile robot control and path planning technology, and particularly to a dynamic planning method for multi-robot cooperative patrol paths considering energy constraints. The method includes: first, fusing information from multiple sensor sources to acquire patrol area, key monitoring points, and robot energy status data; dynamically dividing the area into sub-regions using remaining battery life as a hard constraint, combined with task load and path constraints, and generating an initial patrol path through weighted coverage and energy consumption prediction; updating battery power in real time during execution and comparing local replanning results; initiating cooperative requests including incomplete paths when battery power is insufficient, and achieving cross-robot cooperative optimization based on path length, energy consumption, and patrol priority; finally, generating a review report based on actual energy consumption and path adjustment records, updating the energy consumption prediction model and allocation strategy, and using it for the next round of partitioning. This invention significantly improves the patrol reliability and energy utilization efficiency of multiple robots in dynamic environments.

This utility model discloses a control circuit for driving a mobile robot, including a charger module, a power supply module, a communication module, a control module, an IMU module, and an interface module. The power supply module includes a power switching module, a power filtering and voltage regulation module, a power management module, a power monitoring module, and a key switch for a host computer. The power management module includes a power control module and a power distribution module. The power control module receives voltage requirements from different circuit components and transmits them to the power distribution module. The power distribution module converts the input voltage into a specific output voltage to meet the needs of different circuit components. Through high-speed data transmission, coordinated and precise control, and real-time status feedback between the power supply module, control module, and communication module, the dynamic stability of the mobile robot's drive control, the response speed of the mobile robot, and its endurance are improved.

A mobile robot control system according to an embodiment is a mobile robot control system configured to control a mobile robot, a shape of the mobile robot having long sides and short sides in a top view, and the mobile robot control system including: an area setting unit configured to set a virtual bumper area defined by a first area and a second area, the first area being defined by a plurality of circles arranged along the long-side direction and the second area being formed by moving the first area in accordance with a moving speed of the mobile robot; and a control unit configured to control the mobile robot so as to decelerate or stop when the nearby object enters the virtual bumper area. Control may be performed using a machine learning model generated by supervised learning or the like.

The invention provides a control method and device of a mobile robot, a storage medium and the mobile robot, and relates to the technical field of mobile robots. The control method of the mobile robot comprises the steps that under the condition that the mobile robot loses positioning information, a target identification code is scanned, and the target identification code is located at a first position; determining first position information of the first position according to the target identification code; and controlling the mobile robot to run according to the first position information. In the deployment stage, only the target identification code needs to be deployed at the specified first position, the deployment cost and the maintenance cost are low, and the first position information obtained by the mobile robot through a code scanning and decoding mode is the pre-stored accurate position information, so that the positioning information recovered by the mobile robot is more accurate, and the user experience is improved. The technical problems of low positioning precision and high deployment cost in the prior art are solved.

Method for controlling a mobile robot by means of a safety motion controller, comprising completing a path in an environment with stationary and mobile obstacles, decelerating the mobile robot to a speed of zero and thus assuming a standstill position, and triggering the safety motion controller by activating a switch after decelerating the mobile robot to a speed of zero.

The invention provides an autonomous obstacle avoidance navigation method and device for a mobile robot based on reinforcement learning, and the method comprises the steps: constructing a training environment of a navigation model of the mobile robot, and enabling the training environment to at least comprise a movement constraint condition of the mobile robot; according to sensor configuration information and a navigation task of the mobile robot, a navigation model based on an improved SAC algorithm is designed, the navigation model at least comprises a state space, an action space and a reward function, and the navigation model is used for outputting action output at the current moment according to current state information of the mobile robot; and training the navigation model by using an improved SAC algorithm according to the target point position in the navigation task to obtain a target navigation model, and outputting the mobile robot control instruction based on the target navigation model, and the method provided by the invention improves the autonomous navigation ability of the mobile robot in a complex environment.

The invention discloses a mobile robot control method and device, a storage medium and an electronic device, and relates to the technical field of robotics.The mobile robot control method comprises the steps that a task planning strategy is generated according to to-be-executed task information and robot state information; according to the task planning strategy, response strategy configuration is carried out on the to-be-executed task instruction, and a robot control instruction is obtained; and sending the robot control instruction to the task robot to control the task robot to complete the to-be-executed task. According to the technical scheme, automatic task planning and response strategy configuration can be carried out on the robot system, and the efficiency, flexibility and intelligence of robot control are improved.

The invention discloses an active planning and soft and hard constraint mobile robot control method and related equipment, and relates to the technical field of robots, and the method comprises the steps: defining an expected following pose of a mobile robot; constructing an optimization problem of following trajectory planning and control for the mobile robot; wherein the optimization problem comprises a distance tracking item, an angle tracking item, a smooth item and a safety item; the distance tracking item and the angle tracking item are used for minimizing an error between the mobile robot and an expected following pose; model prediction control is used as a controller, the controller is used for solving an optimization problem, and then a control sequence is generated; and controlling the mobile robot to execute a following task according to the control sequence so as to follow the user. The distance tracking item and the angle tracking item serve as soft constraints, the safety item serves as hard constraints, the control sequence is generated by solving the optimization problem, the strategy of combining the optimal planning and the soft and hard constraints can be achieved, and natural and anthropomorphic active following is achieved on the premise of safety.

To provide a moving robot for which a movement amount can be accurately estimated even if using a visual odometry, a method of estimating a movement amount and a program for controlling a moving robot.SOLUTION: A moving robot comprises: a camera 32 that takes a moving image of a traveling-road surface; an image setting section 11 that sets up a base image; a transition-area setting section 13 that sets up a transition area R1 in the base image; a displacement-amount calculating section 12 that calculates a displacement amount of a feature point between images based on feature points included in the base image and a target image; a determining section 15 that determines whether or not a moving robot 1 is inside the transition area R1 based on the displacement amount; an image update section 16 that, if the moving robot 1 is inside the transition area R1, does not change the base image and, if the moving robot 1 is outside the transition area R1, sets a target image obtained from a precedent frame where the displacement amount is outside the transition area to a new base image; and a movement-amount calculating section 17 that calculates a movement amount based on the feature points of the base image and target image.SELECTED DRAWING: Figure 2

The application discloses a kind of mobile robot predefined time obstacle avoidance tracking control method and system, method includes: the mobile robot control model with unknown nonlinear dynamics and external disturbance is constructed;Establish artificial potential field function containing minimum safety distance and obstacle avoidance detection range;Unknown nonlinear dynamics in the control model is approximated using fuzzy logic system, and system coordinate transformation is given, on this basis, establish Lyapunov function;Under the framework of backstepping recursion method, combined with dynamic surface control technology, construct predefined time filter;Design the adaptive law of mobile robot and predefined time obstacle avoidance controller.The present application is aimed at the problems such as unconstrained convergence time, difficult to balance obstacle avoidance and tracking of existing method, design predefined time filter and obstacle avoidance controller, with the improved artificial potential field function containing key parameters, dynamically adjust control parameters through adaptive law, realize the predefined time convergence of mobile robot system, collision-free accurate tracking.

This invention relates to the field of mobile robot control, and discloses a servo motor position control method and system suitable for mobile robots, comprising the following steps: First, constructing a target mathematical model of a permanent magnet synchronous motor with dual-channel disturbances, distinguishing between current and mechanical disturbances; designing two-stage linear cascade disturbance observers and two-stage model-compensated extended state observers to compensate for the combined disturbances of the current and mechanical channels in a layered online manner; introducing the observed disturbance quantity into the model predictive position controller, solving for the control voltage in conjunction with the motor model, and applying multiple linear constraints of current, speed, and voltage; outputting the optimal d / q-axis voltage to drive the servo motor in closed-loop operation, and completing performance verification through multi-condition simulation. This invention overcomes the shortcomings of traditional model predictive control parameters being sensitive and having insufficient disturbance compensation, and is adaptable to various complex working conditions.

The application relates to the technical field of intelligent mobile robot control, in particular to an electrical control system and a control method of a high-mobility four-wheel-drive four-rotation platform trolley, which comprises a whole-trolley controller, a distributed execution unit and a redundant sensor network; the system realizes Ackerman, omni-directional translation and in-place rotation modes based on a unified kinematics model. Through multi-level diagnosis of execution signals, components and system layers, special faults such as vine entanglement and mud sinking are identified, and a system health index is quantified in combination with safety, function and performance scores. According to the index grade, the system automatically executes parameter optimization, model online reconstruction or minimum risk state switching. The application can significantly improve the mobility and robustness of the platform on unstructured terrain, realize graceful degradation of functions when sensors or actuators are locally failed, and guarantee the continuity and system reliability of operation tasks.

This invention discloses a method, apparatus, and computer device for controlling the following motion of a wheeled mobile robot, relating to the field of mobile robot control technology. The method includes: acquiring the position information of a target tag relative to the robot through a UWB positioning system, and simultaneously acquiring the distance information of obstacles around the robot through ultrasonic radar; based on the position information and obstacle distance information, performing hierarchical decision-making based on a preset safe distance threshold, and generating motion control commands; based on the motion control commands and the position information of the target tag, performing path planning based on a pre-aiming point algorithm to generate a desired driving trajectory; and based on the desired driving trajectory, calculating the required steering angle and required torque, and controlling the robot to perform following motion. This invention achieves 360-degree continuous rotation of the UWB base station through a rotating gimbal, solving the problem of signal loss or response delay caused by the limited signal reception angle of fixed base stations, and realizing stable and reliable following control.

This invention discloses an in-situ laser welding scheme for aircraft titanium alloy frames based on a mobile robot. The method includes: a mobile robot interacting with a host computer through a machine vision module to determine the location and morphology of damage to the titanium alloy component; the host computer planning a welding path and welding process parameters based on the location, morphology, and material of the damaged area, as well as the current posture of the mobile robot's robotic arm; the mobile robot controlling a mechanical grinding module on the robotic arm to cut and clean the damaged area according to the welding path; and the mobile robot controlling the cladding head of a laser cladding module to weld the damaged area according to the welding path and welding process parameters. This method not only shortens the repair cycle and reduces the difficulty of repair implementation but is also applicable to the repair of damaged parts of various types of titanium alloys, demonstrating good versatility.

The application discloses a fusion-aware autonomous obstacle avoidance mobile robot control method and system, relates to the technical field of robots, and comprises the following steps: collecting multi-source heterogeneous sensing based on the moving robot running environment, obtaining a multi-modal environment perception dataset; performing space-time alignment on the multi-modal environment perception dataset, generating a multi-source fusion feature map and performing dynamic and static analysis, and constructing a real-time environment semantic map; constructing an obstacle avoidance action sequence through dynamic obstacle avoidance learning, simulating control of the mobile robot to avoid obstacles, updating the real-time environment semantic map according to the simulated obstacle avoidance result, and constructing an autonomous navigation closed-loop control strategy. The application solves the technical problems that there is a lack of closed-loop feedback between environment perception and dynamic obstacle avoidance decision in the prior art and that the real-time performance and self-adaptability of the mobile robot are insufficient in a complex dynamic environment, and achieves the technical effects of improving the environment perception accuracy of the mobile robot in a dynamic environment, the real-time performance of obstacle avoidance decision and the control self-adaptive ability.

This invention discloses a spatiotemporal grid-based dynamic priority game-based cooperative control method and system for multiple robots, belonging to the field of mobile robot control and artificial intelligence technology. The method includes the following steps: S1, local spatiotemporal grid perception construction; S2, trajectory intent broadcasting; S3, collision risk prediction; S4, dynamic priority game; S5, adaptive cooperative execution. This invention employs the aforementioned spatiotemporal grid-based dynamic priority game-based cooperative control method and system for multiple robots. Through a decentralized distributed architecture, spatiotemporal grid conflict prediction, dynamic priority non-cooperative game, and automatic deadlock resolution mechanism, it achieves autonomous cooperation, efficient obstacle avoidance, and stable operation of a multi-robot cluster.

A method for controlling a mobile robot according to the present invention is a method for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails. The method comprises the steps of: specifying a movement path of the mobile robot so that the mobile robot moves to a destination; and controlling the movement of the mobile robot so that the mobile robot reaches the destination while moving in the first direction or the second direction along the movement path. The step of controlling the movement of the mobile robot may include a step of sensing a tag located along the first direction or the second direction from the mobile robot if an intersection area, in which a change of direction from one of the first direction or the second direction to the other occurs, is present on the movement path.