公开(公告)号：US20220317695A1

公开(公告)日：2022-10-06

申请号：US17309922

申请日：2020-09-10

Applicant: GOERTEK INC.

Inventor： Xueqiang WANG ,  Yifan ZHANG ,  Libing ZOU ,  Fuqiang ZHANG

IPC: G05D1/02 ,  G05D1/00 ,  G06N3/04 ,  G06N3/08 ,  G06N7/00

Abstract: A multi-AGV motion planning method, device and system are disclosed. The method of the present disclosure comprises: establishing an object model through reinforcement learning; building a neural network model based on the object model, performing environment settings including AGV group deployment, and using the object model of the AGV in a set environment to train the neural network model until a stable neural network model is obtained; setting an action constraint rule; and after the motion planning is started, inputting the state of current AGV, states of other AGVs and permitted actions in a current environment into the neural network model after trained, obtaining the evaluation indexes of a motion planning result output by the neural network model, obtaining an action to be executed of the current AGV according to the evaluation indexes, and performing validity judgment on the action to be executed using the action constraint rule.

公开(公告)号：US20220307859A1

公开(公告)日：2022-09-29

申请号：US17309926

申请日：2020-11-06

Applicant: GOERTEK INC.

Inventor： Libing ZOU ,  Yifan ZHANG ,  Fuqiang ZHANG ,  Baoming LI

IPC: G01C21/00 ,  G01C21/32

Abstract: The present application discloses a method and device for updating a map. The method for updating a map according to the present embodiment includes: in a process of movement of a robot, when it is detected that an actual environment is different from an environment that is indicated by a global map that has already been established, starting up map updating, and establishing an initial local map; determining a locating point according to acquired sensor data and the global map, and optimizing the initial local map according to the locating point, to obtain an optimized local map; and covering a corresponding area of the global map by using the optimized local map, to complete updating of the global map. The embodiments of the present application improve the locating accuracy, ensure the speed and efficiency of the map updating, and save time.

公开(公告)号：US20220113420A1

公开(公告)日：2022-04-14

申请号：US17309923

申请日：2020-10-24

Applicant: GOERTEK INC.

Inventor： Yue NING ,  Yifan ZHANG ,  Libing ZOU ,  Fuqiang ZHANG

IPC: G01S17/89 ,  G06N20/20

Abstract: A plane detection method and device based on a laser sensor are disclosed. The method includes: acquiring data of the laser sensor after starting detection; inputting the data into a detection model trained in advance, wherein the detection model is obtained by training with data corresponding to a medium type selected in advance and is capable of recognizing the medium type selected; judging whether an object to which the data belongs is a plane, and if the object is a plane, determining the medium type of the plane; and setting corresponding optimization methods for different medium types, and optimizing the data according to the medium type. The laser sensor recognizes the medium type by the machine learning model, and optimizes the two-dimensional laser data according to the recognition results, and thus forms a more refined map and performs more accurate positioning based on the two-dimensional laser data.

公开(公告)号：US20220171512A1

公开(公告)日：2022-06-02

申请号：US17594145

申请日：2020-10-30

Applicant: GOERTEK INC.

Inventor： Libing ZOU ,  Yifan ZHANG ,  Fuqiang ZHANG ,  Xueqiang WANG

IPC: G06F3/0487 ,  G06F3/14 ,  G06V40/16 ,  G06V40/18 ,  G06V10/82 ,  G06F3/0354 ,  G06F3/038 ,  G06F3/01

Abstract: A multi-screen display system and a mouse switching control method are disclosed. The mouse switching control method is applied to a multi-screen display system comprising a main display screen and at least one extended display screen, and comprises: obtaining user images collected by cameras installed on the main display screen and the extended display screen respectively; inputting the user images into a neural network model, and predicting a screen that a user is currently paying attention to using the neural network model to obtain a prediction result; and controlling to switch a mouse to the screen that a user is currently paying attention to according to the prediction result. The system and mouse switching control method are based on self-learning of visual attention, predict the current screen operated by the user, automatically switch the mouse to the corresponding screen position, and improve the user experience.