CN205750530U - Robot and control loop thereof and remote server - Google Patents
Robot and control loop thereof and remote server Download PDFInfo
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- CN205750530U CN205750530U CN201521139381.8U CN201521139381U CN205750530U CN 205750530 U CN205750530 U CN 205750530U CN 201521139381 U CN201521139381 U CN 201521139381U CN 205750530 U CN205750530 U CN 205750530U
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Abstract
The utility model discloses a kind of robot and control loop thereof and remote server.This robot includes: video frequency pick-up head, for gathering the environmental information of robot periphery, generates the video of robot surrounding enviroment；Radar, for the distance of detecting obstacles thing and robot to determine the distance of the barrier in video and robot；Processor, is connected with video frequency pick-up head and radar, for the 3D topography according to the barrier in video Yu the distance drawing robot surrounding enviroment of robot；Transmitting mechanism, is connected with processor, for the distance of 3D topography, the video of robot surrounding enviroment and barrier Yu robot is uploaded to remote server.By this utility model, improve the utilization rate of video information to robot surrounding enviroment.
Description
Technical field
This utility model relates to robot field, in particular to a kind of robot and control loop thereof and remotely takes
Business device.
Background technology
At present, automobile majority on the market all has anti-lock braking system, and minority vehicle has automated parking system,
Anti-lock braking system and automated parking system are all the examples being controlled automobile by system, robot driver automobile control
The simple operations such as the acceleration and deceleration of automobile and turning have become as reality, and for robot driver, it is possible to accurate in time
Really obtaining the traffic information of motor vehicle environment, the video obtaining environment surrounding automobile has important for controlling automobilism
Meaning, in prior art, can not obtain automobile and barrier in video when shooting the video around in vehicle traveling process
Between distance, or i.e. allow to obtain the distance between automobile and barrier, but apart from not accurate enough, error
Relatively big, therefore the position judgment for barrier is not accurate enough, and accessed video can not be widely used by robot,
Utilization rate is low.
For problem low to the video information utilization rate of robot surrounding enviroment in correlation technique, the most not yet proposition has
The solution of effect.
Utility model content
Main purpose of the present utility model is to provide a kind of robot and control loop thereof and remote server, to solve
The problem low to the video information utilization rate of robot surrounding enviroment.
To achieve these goals, according to an aspect of the present utility model, it is provided that a kind of robot, this robot
Including: video frequency pick-up head, for gathering the environmental information of robot periphery, generate the video of robot surrounding enviroment；
Radar, for the distance of detecting obstacles thing and robot to determine the distance of the barrier in video and robot；Process
Device, is connected with video frequency pick-up head and radar, for drawing machine according to the distance of the barrier in video with robot
The 3D topography of people's surrounding enviroment；And transmitting mechanism, it is connected with processor, for by 3D topography, machine
The distance of the video of people's surrounding enviroment and barrier and robot is uploaded to remote server.
Further, robot also includes: receiving mechanism, is connected with processor, is used for receiving under remote server
The running information sent out；And output mechanism, it is used for exporting running information.
Further, robot also includes: range sensor, is connected with described processor, for measuring robots
Distance with periphery barrier.
Further, range sensor is rotatable laser range finder.
Further, robot also includes: bluetooth link block, is connected with automobile and processor, connects, is used for
Control signal is sent to automobile.
Further, robot also includes: microsensor, is connected with described processor, is used for monitoring vehicle and is
No deviation predetermined paths.
Further, robot also includes: GPS locating module, is connected with described processor, for robot
Position.
To achieve these goals, according to another aspect of the present utility model, it is provided that a kind of remote server, this is remote
Journey server includes: receptor, for receiving the distance of 3D topography that machine Crinis Carbonisatus send and barrier and robot,
Wherein, the artificial robot of the present utility model of machine；Processor, is connected with receptor, for by robot periphery
Distance and the 3D topography of the barrier in the video of environment, video and robot are integrated.
Further, remote server also includes: transmitting mechanism, is connected with processor, is used for sending control instruction.
To achieve these goals, according to another aspect of the present utility model, it is provided that a kind of robot driver system,
This robot driver system includes: robot, for by the barrier in the video of surrounding enviroment, video and robot
Distance and 3D topography send to remote server and by control instruction control automobile operation；Remote service
Device, for entering distance and the 3D topography of the barrier in the video of robot surrounding enviroment, video with robot
Row is integrated, and generates running information；Automobile, for receiving the control instruction of robot and running according to control instruction.
This utility model passes through video frequency pick-up head, for gathering the environmental information of robot periphery, generates robot periphery
The video of environment；Radar, for the distance of detecting obstacles thing and robot to determine the barrier in video and robot
Distance；Processor, is connected with video frequency pick-up head and radar, for according to the barrier in video and robot
The 3D topography of distance drawing robot surrounding enviroment；And transmitting mechanism, it is connected with processor, for by 3D
Topography, the video of robot surrounding enviroment and barrier are uploaded to remote server with the distance of robot, solve
The problem low to the video information utilization rate of robot surrounding enviroment, and then reached to improve regarding of robot surrounding enviroment
Frequently the effect of information utilization.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing being further appreciated by of the present utility model, of the present utility model
Schematic description and description is used for explaining this utility model, is not intended that improper restriction of the present utility model.?
In accompanying drawing:
Fig. 1 is the schematic diagram of the robot driver system according to this utility model embodiment；
Fig. 2 is the schematic diagram of the robot according to this utility model embodiment；And
Fig. 3 is the schematic diagram of the remote server according to this utility model embodiment.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
In order to make those skilled in the art be more fully understood that the application scheme, below in conjunction with in the embodiment of the present application
Accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present application, it is clear that described embodiment
It is only the embodiment of the application part rather than whole embodiments.Based on the embodiment in the application, ability
The every other embodiment that territory those of ordinary skill is obtained under not making creative work premise, all should belong to
The scope of the application protection.
It should be noted that term " first " in the description and claims of this application and above-mentioned accompanying drawing, "
Two " it is etc. for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that this
The data that sample uses can be exchanged in the appropriate case, in order to embodiments herein described herein.Additionally, term
" include " and " having " and their any deformation, it is intended that cover non-exclusive comprising, such as, comprise
The process of series of steps or unit, method, system, product or equipment are not necessarily limited to those steps clearly listed
Rapid or unit, but can include that the most clearly list or intrinsic for these processes, method, product or equipment
Other step or unit.
This utility model embodiment provides a kind of robot driver system.
Fig. 1 is the schematic diagram of the robot driver system according to this utility model embodiment, as it is shown in figure 1, this system
Including robot 10, automobile 20 and server 30.
Robot 10, for by the distance of the barrier in the video of robot surrounding enviroment, video and robot and 3D
Topography sends to remote server and by the operation of control instruction control automobile.
Robot 10 includes video frequency pick-up head, and video frequency pick-up head, for gathering the environmental information of robot periphery, generates machine
The video of device people's surrounding enviroment.Video frequency pick-up head can gather the traffic light around robot, pedestrian, bicycle
The moving obstacle run on the route or travel by vehicle such as bicyclist, robot 10 also includes radar, for detecting obstacles thing
With the distance of robot to determine the distance of the barrier in video and robot, radar can detect and robot 10
Distant fixed obstacle, the fixing roadblock such as high building such as at a distance and electric pole, radar will be collected
Position and range information send to the processor of robot 10, and processor is according to received position and range information
The 3D topography of drawing robot surrounding enviroment, by transmitting mechanism by 3D topography, the video of robot surrounding enviroment
It is uploaded to remote server 20 with the distance of barrier Yu robot.Such as, transmitting mechanism can be incited somebody to action by wireless network
3D topography, the video of robot surrounding enviroment and barrier are uploaded to remote server 20 with the distance of robot.
Robot 10 also includes processor, and this processor is connected with video frequency pick-up head and radar, and processor receives video camera
The video of head shooting and the distance of barrier and the robot of radar detection, according to the video captured by video frequency pick-up head,
With radar detection to video in the distance of barrier and robot draw the 3D landform of described robot surrounding enviroment
Figure, 3D topography can be stored in the storage device of robot, it is also possible to sends to remote server 20.Machine
Device people 10 also includes transmitting mechanism, and this transmitting mechanism is connected with processor, for by 3D topography, robot week
The distance of the video of surrounding environment and barrier and robot is uploaded to remote server.
Preferably, robot 10 also includes range sensor, and this range sensor is connected with processor, Distance-sensing
Device measuring robots is then transmit to processor with the distance of periphery barrier, mapping mechanism or processor paint
The 3D topography of robot processed surrounding enviroment, alternatively, range sensor can be rotatable laser range finder,
Such as, laser range finder uses the laser range finder of rotatable 270 degree, for gathering the 3D of robot
Topography, can be by location in time and map structuring (Simultaneous when gathering ambient condition information
Localization and Mapping, referred to as SLAM) technology.If robot 10 includes radar and distance simultaneously
Sensor, radar is for detecting barrier and the distance of robot at a distance, and range sensor is used for detecting barrier nearby
Distance with robot.
Robot 10 also includes receiving mechanism and output mechanism, and receiving mechanism is connected with processor, is used for receiving remotely
The running information that server sends, running information can be robot 10 ambient condition information in the process of moving, OK
Car information can also be the driving advisory information that the ambient condition information according to robot 10 generates, output mechanism and process
Device is connected, and then the running information sent for receiving processor exports running information, and the running information of output is permissible
Being the optimal path cooked up according to traffic information, running information is used for advising that robot 10 controls automobile according to optimum road
Footpath travels.
Robot 10 includes bluetooth link block, and this bluetooth link block is connected with automobile and processor, for vapour
Car sends control signal, and robot 10, when controlling automobilism, is connected with automobile foundation by bluetooth link block,
Processor sends control signal, by Bluetooth control automobilism, such as, after robot 10 gets on the bus, opens bluetooth mould
Block, the bluetooth on automobile can identify the Bluetooth signal of robot, the bluetooth of automobile and the Bluetooth pairing of robot 10,
Set up and connect, set up by bluetooth and automobile and is connected, to automobile transmission control signal, the operation of control automobile, such as,
Refuel, brake, turning etc..Robot 10 can also be connected with automobile by other connected mode, controls the fortune of automobile
OK, the such as connected mode such as wired connection or wireless network connection.
Robot has robot body, and above-mentioned each comprising modules and mechanism are arranged on robot body or robot
Body interior.
After robot 10 is connected with automobile foundation, can input by the way of Remote or transmission phonetic order
Address, namely destination, found the optimal path arrived at, wherein, lead by robot 10 by navigation system
Boat system can be to be cooked up optimal path by the navigation sector in robot 10 according to destination information, it is also possible to is machine
Destination information is sent to remote server 20 by device people 10, remote server 20 provide optimal path and then send
To robot 10.
Preferably, robot 10 also includes microsensor, is connected with processor, microsensor and Distance-sensing
Device coordinates whether monitoring vehicle deviates predetermined paths, if microsensor monitors vehicle deviation predetermined paths, and will partially
Sending to processor from information, processor generates control instruction according to runout information, adjusts the operation of automobile.
Alternatively, robot 10 also includes GPS locating module, is connected with processor, for entering robot 10
Row location, positional information is sent to processor, passes through transmitter after processor receiving position information by GPS locating module
Structure sends to server 20, can obtain the position of automobile by robot 10 carries out location more accurately, pass through
The operation of the positional information planning automobile of automobile.
Server 20, for the distance by the barrier in the video of robot surrounding enviroment, video with described robot
Integrate with 3D topography, generate running information.
Server 20 includes receptor, and receptor is for receiving 3D topography, the robot Zhou Bianhuan that machine Crinis Carbonisatus send
The video in border and barrier also include processor with distance and the server 20 of robot, for by robot surrounding enviroment
Video, the distance of the barrier in video and described robot, 3D topography integrates, obtain more rich comprehensively
The information of robot surrounding enviroment, the operation of automobile can be better controled over by the information of robot surrounding enviroment.
Meanwhile, the information of multiple robots surrounding enviroment is integrated by server 20, carries out information sharing, by information sharing
To multiple robots 10, therefore robot 10 can obtain more traffic information, understands in advance and does not the most drive to
, such as, there is traffic congestion at front 2 km in the traffic information of distance, and congestion information is sent to clothes by robot 10
Business device 20, congestion information is shared to other robot by server 20, and therefore other robot can get around in advance and gather around
Stifled route, programme path again, time-consuming, make robot 10 more intelligent.
Automobile 30, for receiving the control instruction of described robot 10 and running according to control instruction.
Such as, automobile 30 receives the control instruction of robot 10 by blue tooth interface, according to the robot 10 received
Control instruction travel, such as, robot 10 controls automobile 30 and turns right, then automobile 30 receives robot 10
Right-hand rotation instruct and perform turn right operation.Automobile 30 can also be by receiving the control instruction of robot 10 otherwise
And run according to control instruction, the such as connected mode such as wired connection or wireless network connection.
This embodiment passes through the robot 10 distance by the video of surrounding enviroment, the barrier in video and robot, 3D
Topography sends to remote server 20 and by the operation of control instruction control automobile；Remote server 20 is by machine
Distance and the 3D topography of the barrier in the video of device people's surrounding enviroment, video and described robot are integrated,
Generate running information；Automobile 30 receives the control instruction of described robot and runs according to described control instruction, thus right
The judgement of Obstacle Position is more accurate, improves the video information utilization rate of robot surrounding enviroment.
Fig. 2 is the schematic diagram of the robot according to this utility model embodiment, as in figure 2 it is shown, this robot includes:
Video frequency pick-up head 101, for gathering the environmental information of robot periphery, generates the video of robot surrounding enviroment.
Video frequency pick-up head 101, for gathering the environmental information of robot periphery, generates the video of robot surrounding enviroment.
Video frequency pick-up head can gather the route or travel by vehicle such as the traffic light around robot, pedestrian, cycling person
On the moving obstacle that runs into,
Radar 102, for detecting obstacles thing and robot distance with determine barrier in video and robot away from
From.
Radar 102 by the distance of detecting obstacles thing and robot with determine barrier in video and robot away from
The distant fixed obstacle with robot, high building such as at a distance and electric pole can be detected from, radar 102
Etc. fixing roadblock.The position collected and range information are sent the processor 103 to robot by radar 102.
Processor 103, is connected with video frequency pick-up head and radar, for according to the barrier in video and robot
The 3D topography of distance drawing robot surrounding enviroment, 3D topography can be stored in the storage device of robot,
Can also send to remote server.
Transmitting mechanism 104, is connected with processor 103, for by 3D topography, the video of robot surrounding enviroment
It is uploaded to remote server with the distance of barrier Yu robot.
Transmitting mechanism 104 receives the instruction of processor, by 3D topography, the video of robot surrounding enviroment and obstacle
Thing is uploaded in remote server with the distance of robot.Such as, transmitting mechanism 104 can be by wireless network by 3D
Topography, the video of robot surrounding enviroment and barrier are uploaded in remote server with the distance of robot.
Preferably, robot also includes range sensor, and this range sensor is connected with processor, for testing machine
Device people and the distance of periphery barrier, send the distance of the robot detected with periphery barrier to processor 103,
By mapping mechanism or the 3D topography of processor drawing robot surrounding enviroment, alternatively, range sensor
For rotatable laser range finder, such as, laser range finder uses the laser range finder of rotatable 270 degree, is used for adopting
The 3D topography of collection robot, can pass through SLAM when gathering ambient condition information and building map
Technology.
Robot also includes receiving mechanism and output mechanism, and this receiving mechanism is connected with processor, is used for receiving remotely
The running information that server sends, running information can be robot ambient condition information in the process of moving, driving
Information can also be the driving advisory information that the ambient condition information according to robot generates, and receiving mechanism receives driving
After information, sending to processor, output mechanism is connected with processor, and running information is sent to output by processor
Mechanism, output mechanism output running information, the running information of output can be the optimum road cooked up according to traffic information
Footpath, running information is used for advising that robot controls automobile and travels according to optimal path.
Robot includes that bluetooth link block, bluetooth link block are connected with automobile and processor, for sending out to automobile
Sending control signal, robot, when controlling automobilism, is connected with automobile foundation by bluetooth link block, processor
Send control signal, by Bluetooth control automobilism, such as, after robot gets on the bus, open bluetooth module, automobile
On bluetooth can identify the Bluetooth signal of robot, the bluetooth of automobile and the Bluetooth pairing of robot, set up and connect,
It is connected with automobile foundation by bluetooth, sends control signal to automobile, control the operation of automobile, such as, refuel, stop
Car, turning etc..Robot can also be connected with automobile by other connected mode, controls the operation of automobile, such as, has
The connected modes such as line connection or wireless network connection.
After robot is connected with automobile foundation, can input ground by the way of Remote or transmission phonetic order
Location, namely destination, found the optimal path arrived at, wherein, navigation system by robot by navigation system
System can be to be cooked up optimal path by the navigation sector in robot according to destination information, it is also possible to is that robot will
Destination information sends to remote server, remote server provide optimal path and be then forwarded to robot 10.
Preferably, robot also includes microsensor, is connected with processor, microsensor and range sensor
Coordinate whether monitoring vehicle deviates predetermined paths, if microsensor monitors vehicle deviation predetermined paths, will deviate from
Information sends to processor, and processor generates control instruction according to runout information, adjusts the operation of automobile.
Alternatively, robot also includes GPS locating module, is connected with processor, for robot is positioned,
GPS locating module by positional information send to processor, after processor receiving position information by transmitting mechanism send to
Server 20, can obtain the position of automobile more accurately by robot carries out location, is believed by the position of automobile
The operation of breath planning automobile.
This embodiment gathers the environmental information of robot periphery by video frequency pick-up head, generates regarding of robot surrounding enviroment
Frequently；The distance of radar detection barrier and robot is to determine the distance of the barrier in video and robot；Processor
It is connected with video frequency pick-up head and radar, according to the distance drawing robot Zhou Bianhuan of the barrier in video Yu robot
The 3D topography in border；Transmitting mechanism, is connected with processor, for by the video of robot surrounding enviroment, 3D ground
Shape figure and barrier are uploaded to remote server with the distance of robot, to the judgement of obstacle distance more
Accurately, improve the video information utilization rate of robot surrounding enviroment.
This utility model embodiment additionally provides a kind of remote server.Fig. 3 is the long-range clothes of this utility model embodiment
The schematic diagram of business device, as it is shown on figure 3, this remote server includes:
Receptor 201, for receiving 3D topography, the video of robot surrounding enviroment and the barrier that machine Crinis Carbonisatus send
Distance with robot.Alternatively, receptor sends 3D topography by wireless network receiver device people.
Processor 202, is connected with receptor, for by 3D topography, the video of robot surrounding enviroment and video
In the distance of barrier and robot integrate.
Processor 202 is by carrying out the distance of the barrier in the video of robot surrounding enviroment and video with robot
Integration can obtain the information of more rich comprehensive robot surrounding enviroment, and the information by robot surrounding enviroment is permissible
Better control over the operation of automobile.Meanwhile, the information of multiple robots surrounding enviroment is integrated by processor 202,
Carrying out information sharing, send the information integrated to multiple robots, therefore robot can obtain more multiple road conditions letter
Breath, understands the traffic information to the distance the most not driven in advance, makes robot more intelligent.
This remote server also includes transmitting mechanism, and this transmitting mechanism is connected with processor, is used for sending control instruction,
Control the operation of automobile.
This embodiment uses receptor to receive 3D topography, the video of robot surrounding enviroment and barrier that machine Crinis Carbonisatus send
Hindering the distance of thing and robot, processor is by the obstacle in 3D topography, the video of robot surrounding enviroment and video
The distance of thing and robot is integrated, so that robot is more accurate to the judgement of obstacle distance, improves
The video information utilization rate of robot surrounding enviroment.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included in protection domain of the present utility model
Within.
Claims (10)
1. a robot, it is characterised in that including:
Video frequency pick-up head, for gathering the environmental information of described robot periphery, generates the video of described robot surrounding enviroment；
Radar, for the distance of detecting obstacles thing and described robot to determine the distance of the barrier in described video and described robot；
Processor, is connected with described video frequency pick-up head and described radar, for drawing the 3D topography of described robot surrounding enviroment according to the distance of the barrier in described video with described robot；And
Transmitting mechanism, is connected with described processor, for the distance of described 3D topography, the video of described robot surrounding enviroment and described barrier Yu described robot is uploaded to remote server.
Robot the most according to claim 1, it is characterised in that also include:
Receiving mechanism, is connected with described processor, for receiving the running information that described remote server issues；And
Output mechanism, is connected with described processor, is used for exporting described running information.
Robot the most according to claim 1, it is characterised in that also include:
Range sensor, is connected with described processor, for the distance of measuring robots Yu periphery barrier.
Robot the most according to claim 3, it is characterised in that
Described range sensor is rotatable laser range finder.
Robot the most according to claim 1, it is characterised in that also include:
Bluetooth link block, is connected with automobile and described processor, for sending control signal to described automobile.
Robot the most according to claim 1, it is characterised in that also include:
Microsensor, is connected with described processor, is used for monitoring whether vehicle deviates predetermined paths.
Robot the most according to claim 1, it is characterised in that also include:
GPS locating module, is connected with described processor, for positioning described robot.
8. a remote server, it is characterised in that including:
Receptor, for receiving 3D topography, the video of robot surrounding enviroment and barrier and the distance of described robot that machine Crinis Carbonisatus send, wherein, the robot described in the artificial claim 1 of described machine；
Processor, is connected with described receptor, for the distance of the barrier in described 3D topography, the video of described robot surrounding enviroment and video with described robot being integrated.
Remote server the most according to claim 8, it is characterised in that also include:
Transmitting mechanism, is connected with described processor, is used for sending control instruction.
10. a robot driver system, it is characterised in that including:
Robot, for sending distance and the 3D topography of the barrier in the video of surrounding enviroment, video with described robot to remote server and by the operation of control instruction control automobile, wherein, the robot described in the artificial claim 1 of described machine；
Remote server, for distance and the 3D topography of the barrier in the video of robot surrounding enviroment, video with described robot being integrated, generates running information；
Automobile, for receiving the control instruction of described robot and running according to described control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521139381.8U CN205750530U (en) | 2015-12-31 | 2015-12-31 | Robot and control loop thereof and remote server |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521139381.8U CN205750530U (en) | 2015-12-31 | 2015-12-31 | Robot and control loop thereof and remote server |
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| CN205750530U true CN205750530U (en) | 2016-11-30 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107104971A (en) * | 2017-05-03 | 2017-08-29 | 哈尔滨工业大学 | A kind of joint-monitoring method based on laser radar and video, apparatus and system |
| CN107223200A (en) * | 2016-12-30 | 2017-09-29 | 深圳前海达闼云端智能科技有限公司 | Navigation method, navigation device and terminal equipment |
| CN108646757A (en) * | 2018-07-09 | 2018-10-12 | 东莞理工学院 | A kind of automated navigation system and application method |
| CN108733060A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of processing method of operation cartographic information |
| CN109634282A (en) * | 2018-12-25 | 2019-04-16 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus |
| CN110103221A (en) * | 2019-05-21 | 2019-08-09 | 深圳市超时空机器人有限公司 | A kind of long-range drive manner, equipment and its system |
-
2015
- 2015-12-31 CN CN201521139381.8U patent/CN205750530U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107223200A (en) * | 2016-12-30 | 2017-09-29 | 深圳前海达闼云端智能科技有限公司 | Navigation method, navigation device and terminal equipment |
| WO2018120029A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳前海达闼云端智能科技有限公司 | Navigation method, apparatus and terminal device |
| US11175668B2 (en) | 2016-12-30 | 2021-11-16 | Cloudminds (Shanghai) Robotics Co., Ltd. | Navigation method and apparatus, and terminal device |
| CN107223200B (en) * | 2016-12-30 | 2023-02-28 | 达闼机器人股份有限公司 | Navigation method, navigation device and terminal equipment |
| CN107104971A (en) * | 2017-05-03 | 2017-08-29 | 哈尔滨工业大学 | A kind of joint-monitoring method based on laser radar and video, apparatus and system |
| CN107104971B (en) * | 2017-05-03 | 2021-05-28 | 哈尔滨工业大学 | Combined monitoring method based on laser radar and video |
| CN108733060A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of processing method of operation cartographic information |
| CN108646757A (en) * | 2018-07-09 | 2018-10-12 | 东莞理工学院 | A kind of automated navigation system and application method |
| CN109634282A (en) * | 2018-12-25 | 2019-04-16 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus |
| CN109634282B (en) * | 2018-12-25 | 2021-05-28 | 奇瑞汽车股份有限公司 | Autonomous vehicle, method and apparatus |
| CN110103221A (en) * | 2019-05-21 | 2019-08-09 | 深圳市超时空机器人有限公司 | A kind of long-range drive manner, equipment and its system |
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