Abstract: A position and orientation deviation detection method for a shelf based on a graphic with feature information is provided, wherein an up-looking camera is installed on a robot, an optical axis of the camera faces the shelf and is perpendicular to a side of the shelf facing the robot, and a graphic with feature information is provided on the side; and the method comprises the steps of: the robot moving to a position under the shelf; the robot jacking up the shelf, and then the up-looking camera scanning the graphic; acquiring a position and orientation of the shelf relative to the robot according to the scanned graphic; acquiring a position of the robot within a work space, and acquiring a position of the shelf within the work space according to the position of the robot and the position and orientation of the shelf relative to the robot; and adjusting a position and orientation of the robot according to a deviation between the position of the shelf within the work space and a preset position of the shelf, and

Abstract: The present invention discloses a safety protection method of dynamic detection for mobile robots. The mobile robot is provided with a sensor. Said sensor obtains the obstacle information in the detection areas in front of a mobile robot, and the mobile robot is caused to progressively slow down and dynamically adjust the detection area when an obstacle appears in the detection area. If no obstacle is detected in the detection area after adjusting, then the mobile robot is caused to keep on moving, and if an obstacle is still detected in the detection area after adjusting, then the mobile robot is caused to keep on decelerating until they are stopped. The sensor sets different detection areas according to the traveling speed and traveling direction of the mobile robot, or presets the detection area according to the path and dynamically adjusts it when the mobile robot is running.

Abstract: The present invention discloses a AP switching method for mobile robots based on path setting, including the following steps: install APs in the application environments of mobile robots; control the mobile robots to move along established routes, record the signal strengths of each of the APs on each of the paths of the mobile robots, and determine the AP with the strongest signal strength on each path; configure the MAC addresses of the APs to be connected on each path whereon the mobile robots will move; the mobile robots monitor continuously whether the AP that is connected at the moment coincides with the AP configured for the current path, if not, then switch to the configured AP directly. The present invention can avoid effectively the problem of switching APs excessively frequently, the method is simple and effective, without the need for setting thresholds for signal strengths, and it can decrease uncertainty effectively, which is valuable in the application environments of mobile robots.

Abstract: A path planning method is provided for mobile robots, including the following steps: Step 1. Searching for available paths according to the destinations of moving of the robots and the nodes properties on the map; Step 2. Determining the optimum path, according to the weights of the segments on all the available paths, with the segments being arbitrary curves made up of Bezier curves or splined curves of a plurality of control points; and Step 3. Driving the robots to move along the optimum path, and to stop at the stop points. The present path planning method for mobile robots increases the ways of connection between the nodes significantly and avoids that there is only a single way of connection between two nodes.

Abstract: The present invention discloses a safety protection method of dynamic detection for mobile robots. The mobile robot is provided with a sensor. Said sensor obtains the obstacle information in the detection areas in front of a mobile robot, and the mobile robot is caused to progressively slow down and dynamically adjust the detection area when an obstacle appears in the detection area. If no obstacle is detected in the detection area after adjusting, then the mobile robot is caused to keep on moving, and if an obstacle is still detected in the detection area after adjusting, then the mobile robot is caused to keep on decelerating until they are stopped. The sensor sets different detection areas according to the traveling speed and traveling direction of the mobile robot, or presets the detection area according to the path and dynamically adjusts it when the mobile robot is running.

Abstract: The present invention provides a traffic management method for a mobile robotics system, including: step 1, defining the physical size of a mobile robot and the position of a point on a traveling path; step 2, for each point on the traveling path, obtaining profile information of the mobile robot on this point in combination with the physical size of the mobile robot, so as to further obtain the profile information of the mobile robots over the whole traveling path; step 3, with respect to a first path, calculating whether the profiles of the mobile robots on the first path and on a second path intersect, and if the profiles thereof intersect, then the first path and the second path are disjoint; step 4, calculating whether the profiles of the mobile robots on the first path and all other paths intersect, so as to further obtain the disjoint sets of all paths.

Abstract: The present invention provides a system and method for detecting position deviation of inventory holder based on feature information graphs. Step 1. Mount upward-looking cameras on robots; Step 2. Calibrate the mapping relationship between the pixel coordinate system of the cameras and robot coordinate system; Step 3. Dispose graphs having feature information on the bottom of the inventory holders, and measure coordinates of the feature points of the graphs under the coordinate system of inventory holders; Step 4. After the robots lift the inventory holders, the upward-looking cameras scan the graphs, and obtain the pixel coordinates of the feature points of the graphs; Step 5. Via the mapping relationship in Step 2, calculate and find out the coordinates mapped into the robot coordinate system by the pixel coordinates of the feature points of the graphs; Step 6. Calculate the position deviations of the inventory holders relative to the robots.

Abstract: A path planning method is provided for mobile robots, including the following steps: Step 1. Searching for available paths according to the destinations of moving of the robots and the nodes properties on the map; Step 2. Determining the optimum path, according to the weights of the segments on all the available paths, with the segments being arbitrary curves made up of Bezier curves or splined curves of a plurality of control points; and Step 3. Driving the robots to move along the optimum path, and to stop at the stop points. The present path planning method for mobile robots increases the ways of connection between the nodes significantly and avoids that there is only a single way of connection between two nodes.

Abstract: The present invention discloses a AP switching method for mobile robots based on path setting, including the following steps: install APs in the application environments of mobile robots; control the mobile robots to move along established routes, record the signal strengths of each of the APs on each of the paths of the mobile robots, and determine the AP with the strongest signal strength on each path; configure the MAC addresses of the APs to be connected on each path whereon the mobile robots will move; the mobile robots monitor continuously whether the AP that is connected at the moment coincides with the AP configured for the current path, if not, then switch to the configured AP directly. The present invention can avoid effectively the problem of switching APs excessively frequently, the method is simple and effective, without the need for setting thresholds for signal strengths, and it can decrease uncertainty effectively, which is valuable in the application environments of mobile robots.