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DK3808512T3 - Fremgangsmåde til lokalisering af robot samt robot og lagringsmedie - Google Patents

Fremgangsmåde til lokalisering af robot samt robot og lagringsmedie Download PDF

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Publication number
DK3808512T3
DK3808512T3 DK19818814.6T DK19818814T DK3808512T3 DK 3808512 T3 DK3808512 T3 DK 3808512T3 DK 19818814 T DK19818814 T DK 19818814T DK 3808512 T3 DK3808512 T3 DK 3808512T3
Authority
DK
Denmark
Prior art keywords
robot
locating
procedure
storage media
media
Prior art date
Application number
DK19818814.6T
Other languages
English (en)
Inventor
Bin Cen
Original Assignee
Ecovacs Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=68842696&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DK3808512(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Ecovacs Robotics Co Ltd filed Critical Ecovacs Robotics Co Ltd
Application granted granted Critical
Publication of DK3808512T3 publication Critical patent/DK3808512T3/da

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • G05D1/0248—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 in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
DK19818814.6T 2018-06-15 2019-06-06 Fremgangsmåde til lokalisering af robot samt robot og lagringsmedie DK3808512T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810624053.9A CN110605713B (zh) 2018-06-15 2018-06-15 机器人定位方法、机器人及存储介质
PCT/CN2019/090317 WO2019237990A1 (zh) 2018-06-15 2019-06-06 机器人定位方法、机器人及存储介质

Publications (1)

Publication Number Publication Date
DK3808512T3 true DK3808512T3 (da) 2024-11-18

Family

ID=68842696

Family Applications (1)

Application Number Title Priority Date Filing Date
DK19818814.6T DK3808512T3 (da) 2018-06-15 2019-06-06 Fremgangsmåde til lokalisering af robot samt robot og lagringsmedie

Country Status (7)

Country Link
US (1) US20210247775A1 (da)
EP (2) EP3808512B1 (da)
CN (2) CN110605713B (da)
DK (1) DK3808512T3 (da)
ES (1) ES2994469T3 (da)
FI (1) FI3808512T3 (da)
WO (1) WO2019237990A1 (da)

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CN113359743A (zh) * 2021-06-18 2021-09-07 北京盈迪曼德科技有限公司 机器人任务执行方法、装置、机器人及存储介质
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CN113971695A (zh) * 2021-10-14 2022-01-25 上海思岚科技有限公司 一种机器人定位的方法、装置及设备
CN114005034B (zh) * 2021-10-29 2025-11-18 珠海格力电器股份有限公司 作业机器人重定位方法、装置、电子设备和存储介质
CN114413903B (zh) * 2021-12-08 2024-07-09 上海擎朗智能科技有限公司 用于多机器人的定位方法、机器人配送系统及计算机可读存储介质
CN114383611A (zh) * 2021-12-30 2022-04-22 华南智能机器人创新研究院 一种移动机器人的多机协同激光slam方法、装置及系统
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Also Published As

Publication number Publication date
US20210247775A1 (en) 2021-08-12
ES2994469T3 (en) 2025-01-24
CN110605713B (zh) 2023-06-27
EP3808512A1 (en) 2021-04-21
CN116578068A (zh) 2023-08-11
WO2019237990A1 (zh) 2019-12-19
EP4446831A2 (en) 2024-10-16
FI3808512T3 (fi) 2024-10-28
EP3808512B1 (en) 2024-09-25
EP3808512A4 (en) 2021-09-15
EP4446831A3 (en) 2024-12-04
CN110605713A (zh) 2019-12-24

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