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    Multi-AGV motion planning method, device and system
    1.
    发明授权
    Multi-AGV motion planning method, device and system 有权

    公开(公告)号：US12045061B2

    公开(公告)日：2024-07-23

    申请号：US17309922

    申请日：2020-09-10

    Applicant: GOERTEK INC.

    Inventor： Xueqiang Wang ,  Yifan Zhang ,  Libing Zou ,  Fuqiang Zhang

    IPC: G05D1/00 ,  G06N3/04 ,  G06N3/08 ,  G06N7/01

    CPC classification number: G05D1/0221 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0289 ,  G05D1/0297 ,  G06N3/04 ,  G06N3/08 ,  G06N7/01

    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.

    Method and device for updating map
    2.
    发明授权
    Method and device for updating map 有权

    公开(公告)号：US12031837B2

    公开(公告)日：2024-07-09

    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

    CPC classification number: G01C21/3837 ,  G01C21/32 ,  G01C21/3848

    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.

    METHOD AND DEVICE FOR TIMING ALIGNMENT OF AUDIO SIGNALS
    3.
    发明公开
    METHOD AND DEVICE FOR TIMING ALIGNMENT OF AUDIO SIGNALS 审中-公开

    公开(公告)号：US20240038278A1

    公开(公告)日：2024-02-01

    申请号：US18266401

    申请日：2021-10-20

    Applicant: Goertek Inc.

    Inventor： LIBING ZOU ,  Yifan Zhang ,  Xueqiang Wang ,  Fuqiang Zhang

    IPC: G11B27/34 ,  G11B27/031 ,  G06T7/33

    CPC classification number: G11B27/34 ,  G11B27/031 ,  G06T7/337 ,  G06T2207/20084 ,  G06T2207/20221 ,  G06T2207/20081 ,  G06T2207/20056

    Abstract: A method and device for timing alignment of audio signals. The method includes: generating frequency domain images respectively for an audio signal to be aligned and a template audio signal (S110); inputting the frequency domain images into a twin neural network of a timing offset prediction model respectively, to obtain two frequency domain features output by the twin neural network (S120); fusing the two frequency domain features to obtain a fused feature (S130); inputting the fused features into a prediction network of the timing offset prediction model to obtain a timing offset output by the prediction network (S140); and performing timing alignment processing on the audio signal to be aligned according to the timing offset (S150). The technical solution is more robust, and especially in a noisy environment, features extracted by a deep neural network are more intrinsic and more stable. An end-to-end timing offset prediction model is more accurate and faster.

    PATH PLANNING METHOD, APPARATUS AND ELECTRONIC DEVICE
    4.
    发明公开
    PATH PLANNING METHOD, APPARATUS AND ELECTRONIC DEVICE 审中-公开

    公开(公告)号：US20230408278A1

    公开(公告)日：2023-12-21

    申请号：US18037914

    申请日：2021-09-28

    Applicant: Goertek Inc.

    Inventor： LIBING ZOU ,  Yifan Zhang ,  Yue Ning ,  Fuqiang Zhang

    IPC: G01C21/34 ,  G06N3/084

    CPC classification number: G01C21/3492 ,  G06N3/084 ,  B60W2554/406 ,  B60W2554/4042

    Abstract: The subject matter provides a path planning method, apparatus and electronic device. Wherein, the method comprises: performing environment modeling according to static road network information and dynamic road condition information of a road network so as to obtain an environment model; determining a plurality of candidate paths according to a starting point and an ending point; extracting from the environment model an environmental feature corresponding to each candidate path by a feature extraction network of a path planning model; inputting the environmental feature to a value estimation network of the path planning model so as to obtain an estimated value for each candidate path output by the value estimation network; determining an optimal path among the candidate paths according to the estimated value.

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