公开(公告)号：US20230373769A1

公开(公告)日：2023-11-23

申请号：US18318714

申请日：2023-05-16

Applicant: Coretronic Intelligent Robotics Corporation

Inventor： Yen-Yi Chen ,  Jyun-Siang Fan ,  Pei-Chi Hsiao ,  Huai-En Wu

IPC: B66F9/075 ,  B66F9/06

CPC classification number: B66F9/0755 ,  B66F9/063

Abstract: An automated moving vehicle and a control method thereof. The control method includes: obtaining a static point cloud and a current point cloud on a work space through a sensor, wherein the current point cloud includes a current scan point; calculating a shortest distance between the current scan point and the static point cloud; in response to the shortest distance being greater than or equal to a first threshold, calculating a first distance between the current scan point and the automated moving vehicle; and in response to the first distance being less than a second threshold, controlling a driving device of the automated moving vehicle to stop a movement of the automated moving vehicle.

公开(公告)号：US20230131715A1

公开(公告)日：2023-04-27

申请号：US17967897

申请日：2022-10-18

Applicant: Coretronic Intelligent Robotics Corporation

Inventor： Yen-Yi Chen ,  Pei-Chi Hsiao ,  Chih-Chien Chen ,  Huang-Cheng Chiang

IPC: G01S7/48 ,  G01S17/89 ,  G06T5/00

Abstract: A method and a system for spatial static map construction are provided. In the method, a three-dimensional space is scanned by using a LiDAR sensor to generate a LiDAR frame including multiple points in the three-dimensional space in a time sequence. As for each point in the LiDAR frame, a corresponding point closest to the point is found from a static map built according to the three-dimensional space, and a distance from the corresponding point is calculated. The point is labelled as a dynamic point if the distance is greater than a threshold, and otherwise labelled as a static point. Each labelled dynamic point is compared with points in N LiDAR frames generated before the time sequence, and corrected as a static point if included in the N LiDAR frames. The dynamic points in the LiDAR frame are removed, and each static point is updated to the static map.