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1.发明公开公开(公告)号：US20240118419A1
公开(公告)日：2024-04-11
申请号：US18257754
申请日：2021-12-17
Inventor： Xiujun YAO , Chenguang GUI , Jiannan CHEN , Fuqiang MA , Chao WANG , Lihua CUI , Feng WANG
CPC classification number: G01S17/86 , G01S17/89 , G06F16/29 , G06T7/74 , G06T2207/30241
Abstract: The present disclosure relates to a localization method and apparatus, and a computer apparatus and a computer-readable storage medium. The localization method includes performing radar mapping and visual mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping includes determining a pose of a key frame; and combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping.
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公开(公告)号：US20230273031A1
公开(公告)日：2023-08-31
申请号：US17924510
申请日：2021-06-21
Inventor： Xiaolong CAI , Chao WANG , Xiujun YAO , Chenguang GUI , Yucheng CAI , Fuqiang MA , Zhen LI , Xinran GUO , Lihua CUI
CPC classification number: G01C21/3446 , G05D1/0214 , G05D1/0217
Abstract: Disclosed are a path planning method and a device, a robot and a storage medium. The method includes: grading a traversable region between a starting point and an end point in a grid map, and determining cost values corresponding to regions of each level; traversing the traversable region from the starting point based on the cost values of the regions of each level, and determining a plurality of target nodes conforming to a minimum value of a preset function; and determining a target path of a robot based on the plurality of target nodes.
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Patent Agency Ranking
公开(公告)号：US20230266470A1
公开(公告)日：2023-08-24
申请号：US18005362
申请日：2021-06-08
Inventor： Xiujun YAO , Fuqiang MA , Chao WANG , Chenguang GUI , Lihua CUI
CPC classification number: G01S17/89 , G06V10/443 , G01S17/58
Abstract: A robot relocalization method and apparatus, and a storage medium and an electronic device. The method comprises: performing feature coding on local visual features of image data to obtain image vector features, and searching, in a pre-set key frame database, for the image vector features subjected to dimension reduction processing, so as to obtain a plurality of search results (S120); solving the pose of a robot according to each search result, so as to obtain a first pose initial value, and performing matching on laser point cloud data in a pre-set two-dimensional grid map according to speed data and displacement data, so as to obtain a first matching result (S130); and generating a second matching result according to the first pose initial value and the first matching result, and performing robot relocalization according to a second pose initial value, the first matching result and the second matching result.
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4.发明申请公开(公告)号：US20220414929A1
公开(公告)日：2022-12-29
申请号：US17757150
申请日：2020-11-30
Inventor： Xiaolong CAI , Chao WANG , Xinran GUO
Abstract: A method for processing positioning data of a mobile device is provided, comprising: acquiring a first original point set and a target point set by measuring an object surface with the mobile device; extracting feature points from the first original point set to obtain an original key point set; extracting feature points from the target point set to obtain a target key point set; performing a first registration operation on the original key point set and the target key point set to obtain a first model transformation parameter; transforming the first original point set by the first model transformation parameter to obtain a second original point set; performing a second registration operation on the second original point set and the target point set to obtain a second model transformation parameter; and acquiring third model transformation parameter based on the first model transformation parameter and the second model transformation parameter.
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5.发明公开公开(公告)号：US20240126298A1
公开(公告)日：2024-04-18
申请号：US18263865
申请日：2022-01-11
Inventor： Enqiong TANG , Chao WANG , Xiujun YAO , Chenguang GUI
IPC: G05D1/622 , G01S17/08 , G01S17/931
CPC classification number: G05D1/622 , G01S17/08 , G01S17/931 , G05D2111/17
Abstract: This disclosure provides a method and apparatus for controlling a robot, and a non-transitory computer-readable storage medium, and relates to the technical field of robot. The method of controlling a robot therein includes: constructing a closed plane graph according to a size of a chassis of the robot, the closed plane graph passing through a center point of the robot chassis and a target point on a planning path of the robot, a connection line between the center point and the target point being a symmetry axis of the closed plane graph; performing laser irradiation from the center point to an area of the closed plane graph to acquire a laser point set; and controlling a movement state of the robot according to a farthest distance between all the laser points in the laser point set and the center point.
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公开(公告)号：US20240083030A1
公开(公告)日：2024-03-14
申请号：US18264236
申请日：2021-12-14
Inventor： Yongyu CHEN , Chao WANG , Xiujun YAO , Chenguang GUI , Lihua CUI
CPC classification number: B25J9/1666 , G05D1/0221 , G05D2201/0217
Abstract: Disclosed are a method and an apparatus for path optimization, a robot and a storage medium. The method includes: acquiring an initial path of a robot, and iteratively optimizing the initial path until a preset iteration termination condition is met to obtain obstacle avoidance path of the robot: acquiring an iteration path corresponding to a current iteration process, determining a smoothness cost and a smoothness optimal gradient; determining a robot's footprint contour corresponding to the iteration path point, and searching for a first nearest obstacle distance; determining an obstacle cost corresponding to the iteration path and an obstacle optimal gradient corresponding to the iteration path point based on the first nearest obstacle distance; adjusting the iteration path point to acquire an iteration path corresponding to a next iteration process; inputting the smoothness cost and the obstacle cost to a preset objective function.
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公开(公告)号：US20240004389A1
公开(公告)日：2024-01-04
申请号：US18037174
申请日：2021-12-17
Inventor： Enqiong TANG , Chao WANG , Xiujun YAO , Chenguang GUI
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/0274 , G05D1/024
Abstract: A robot traveling method, includes: detecting an obstacle, and obtaining first coordinate points of the obstacle in a first coordinate system which is a coordinate system of an obstacle detector; obtaining second coordinate points of the obstacle in a second coordinate system by performing coordinate system transformation on the first coordinate points, the second coordinate system being a coordinate system of a robot; obtaining a first azimuth corresponding to each second coordinate point, traversing all the first azimuths, and determining a farthest target coordinate point that the robot is allowed to reach when walking along a currently traversed first azimuth by performing coordinate axis rotation on all the second coordinate points based on the currently traversed first azimuth; and obtaining a target azimuth deviation of the robot based on the target coordinate point corresponding to each first azimuth, and controlling the robot to travel based on the target azimuth deviation.
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