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公开(公告)号：US20240004398A1
公开(公告)日：2024-01-04
申请号：US18253561
申请日：2021-09-23
Inventor： Xiujun YAO , Chenguang GUI , Zhetao XU
CPC classification number: G05D1/0225 , B60L53/66 , B60L2240/62 , G05D2201/0207 , B60L53/36
Abstract: The present disclosure provides a control method and control device for providing guidance, a charging pile and a robot. The control method for providing guidance comprises: triggering a first positioning circuit to transmit a first request message at a preset period, and a second positioning circuit to transmit a second request message at the preset period after receiving a guidance request message transmitted by a robot; determining a first distance between the robot and the first positioning circuit; determining a second distance between the robot and the second positioning circuit; determining a position of the robot relative to the charging pile according to the first distance and the second distance; and transmitting information about the position to the robot, thereby the robot adjusting a path according to the position to complete the docking of the robot to the charging pile.
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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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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：US20230421905A1
公开(公告)日：2023-12-28
申请号：US18252981
申请日：2021-10-29
Inventor： Xiujun YAO , Chenguang GUI , Zhetao XU
IPC: H04N23/695 , H04N5/262 , H04N23/56
CPC classification number: H04N23/695 , H04N5/262 , H04N23/56
Abstract: This disclosure provides an image processing method, a controller, an image processing robot, and a non-transitory computer-readable storage medium, and relates to the technical field of robot. The image processing method includes: controlling a reference light source to project a reference line in a lengthwise direction of a photographed object; controlling a camera to move in the lengthwise direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, wherein each of the images contains a different segment of the reference line from each other; aligning the images by taking the segment of the reference line contained in the each of the images as a reference and splicing the aligned images to obtain a whole image of the photographed object.
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Patent Agency Ranking
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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8.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：US20230371087A1
公开(公告)日：2023-11-16
申请号：US18246910
申请日：2021-09-10
Inventor： Lingji MIN , Xiujun YAO , Chenguang GUI , Lihua CUI , Chao DENG , Qingxiang ZHAO
Abstract: Disclosed are a method, an apparatus and a system for multi-device cooperation and medium. The method for multi-device cooperation is applied to any one of requesting devices, the method including: broadcasting a cooperation request; determining other requesting devices responding to the cooperation request and regarding the other requesting devices responding to the cooperation request as cooperative devices; and establishing a near field wireless communication connection with the cooperative device, and performing data interaction with the cooperative device based on the near field wireless communication.
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公开(公告)号：US20230256620A1
公开(公告)日：2023-08-17
申请号：US18003247
申请日：2021-06-18
Inventor： Hui WANG , Chenguang GUI , Xiujun YAO
CPC classification number: B25J15/0023 , B25J5/007 , B25J9/0009 , B60D1/14 , B60D2001/001
Abstract: Disclosed is a traction robot, a conveyance system and a method for controlling a traction robot. The traction robot includes a main body, and further includes a control assembly and a rotating arm. The rotating arm is rotationally assembled on the main body. The rotating arm comprises a first rotating arm and a second rotating arm. The first rotating arm and the second rotating arm are both provided with a clamping part for clamping a towed article on one side facing the towed article, and expansion members are both provided between the clamping part and the rotating arm. The control assembly drives fluid input into or discharge from the expansion member to control expansion or retraction of the expansion member, so as to control the clamping part to clamp or release the towed article.
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