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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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2.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：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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