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公开(公告)号：US20240134388A1
公开(公告)日：2024-04-25
申请号：US18278204
申请日：2022-02-22
IPC分类号： G05D1/243 , G05D1/246 , G05D1/248 , G05D101/20 , G05D105/05 , G05D107/70 , G05D111/10 , G05D111/20 , G05D111/30 , G05D111/63
CPC分类号： G05D1/2435 , G05D1/2462 , G05D1/248 , G05D2101/20 , G05D2105/05 , G05D2107/70 , G05D2111/17 , G05D2111/20 , G05D2111/30 , G05D2111/64
摘要： An automated vehicle comprising:
a control unit configured to control movement of the automated vehicle to a location adjacent an estimated location of a drill hole;
a scanning portion including one or more scanning devices configured to scan an area of terrain in the vicinity of the estimated location of the drill hole in order to determine an actual location of the drill hole, and to generate a point cloud representing at least a portion of the interior of the drill hole;
at least one arm associated with the scanning portion, the at least one arm configured to move the scanning portion between a home position and one or more scanning positions; and
an end effector associated with the at least one arm, the end effector being configured to perform one or more operations;
wherein, upon generating the point cloud, the at least one arm is configured, based on the point cloud, to position the end effector in substantial alignment with the drill hole so that the end effector can perform the one or more operations.-
公开(公告)号：US20240231375A9
公开(公告)日：2024-07-11
申请号：US18278204
申请日：2022-02-22
IPC分类号： G05D1/243 , G05D1/246 , G05D1/248 , G05D101/20 , G05D105/05 , G05D107/70 , G05D111/10 , G05D111/20 , G05D111/30 , G05D111/63
CPC分类号： G05D1/2435 , G05D1/2462 , G05D1/248 , G05D2101/20 , G05D2105/05 , G05D2107/70 , G05D2111/17 , G05D2111/20 , G05D2111/30 , G05D2111/64
摘要： An automated vehicle comprising:
a control unit configured to control movement of the automated vehicle to a location adjacent an estimated location of a drill hole;
a scanning portion including one or more scanning devices configured to scan an area of terrain in the vicinity of the estimated location of the drill hole in order to determine an actual location of the drill hole, and to generate a point cloud representing at least a portion of the interior of the drill hole;
at least one arm associated with the scanning portion, the at least one arm configured to move the scanning portion between a home position and one or more scanning positions; and
an end effector associated with the at least one arm, the end effector being configured to perform one or more operations;
wherein, upon generating the point cloud, the at least one arm is configured, based on the point cloud, to position the end effector in substantial alignment with the drill hole so that the end effector can perform the one or more operations.-
3.发明公开公开(公告)号：US20240160223A1
公开(公告)日：2024-05-16
申请号：US18510136
申请日：2023-11-15
发明人： Josip Cesic , Kruno Lenac , Tonci Novkovic , Luka Pevec
IPC分类号： G05D1/246 , G05D1/646 , G05D1/69 , G05D105/80 , G05D107/70 , G05D111/10 , G05D111/63 , G06V10/82
CPC分类号： G05D1/2462 , G05D1/646 , G05D1/69 , G06V10/82 , G05D2105/87 , G05D2107/70 , G05D2111/10 , G05D2111/65
摘要： A system and method are described that provide for mapping features of a warehouse environment having improved workflow. In one example of the system/method of the present invention, a mapping robot is navigated through a warehouse environment, and sensors of the mapping robot collect geospatial data as part of a mapping mode. A Frontend N block of a map framework may be responsible for reading and processing the geospatial data from the sensors of the mapping robot, as well as various other functions. The data may be stored in a keyframe object at a keyframe database. A Backend block of the map framework may be useful for detecting loop constraints, building submaps, optimizing a pose graph using keyframe data from one or more trajectory blocks, and/or various other functions.
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公开(公告)号：US20240212182A1
公开(公告)日：2024-06-27
申请号：US18288611
申请日：2022-03-09
发明人： Guangzhen YANG , Yang YU
IPC分类号： G06T7/521 , A47L9/00 , A47L9/28 , A47L11/40 , G05D1/246 , G05D1/622 , G05D105/10 , G05D111/10 , G05D111/63 , G06T7/13 , G06T7/55 , G06T7/73
CPC分类号： G06T7/521 , G05D1/2465 , G05D1/622 , G06T7/13 , G06T7/55 , G06T7/73 , A47L9/009 , A47L9/2805 , A47L9/2852 , A47L11/4011 , A47L2201/04 , G05D2105/10 , G05D2111/14 , G05D2111/64 , G06T2207/10028 , G06T2207/10048
摘要： Embodiments of the present disclosure provide a distance measurement method and device, a robot and a storage medium. The method comprises: acquiring a first image, where the first image at least comprises a to-be-detected object and a ground on which the to-be-detected object is located; determining an initial constraint condition of the ground based on the first image; acquiring a second image, where the second image at least comprises an intersection line of a line structured light beam with the ground and/or with the to-be-detected object; determining a position parameter of the ground based on the second image, and correcting the initial constraint condition of the ground based on the position parameter; and determining a distance to the to-be-detected object based on the corrected initial constraint condition of the ground and the first image.
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公开(公告)号：US20240160222A1
公开(公告)日：2024-05-16
申请号：US18279922
申请日：2022-03-02
发明人： Saurab VERMA , Syed Zeezhan Ahmed MUKHTAR , Kun ZHANG , Nicolas Andre GAUTHIER , Kam Pheng NG , Yuda CHEN , Chong Boon TAN , Albertus Hendrawan ADIWAHONO
IPC分类号： G05D1/246 , G01S17/89 , G05D105/80 , G05D111/10 , G05D111/63 , G06T7/579 , G06T7/70
CPC分类号： G05D1/246 , G01S17/89 , G06T7/579 , G06T7/70 , G05D2105/87 , G05D2111/17 , G05D2111/65 , G06T2207/10028
摘要： A method of localizing a mobile robot 100 with respect to a target object 601 using an initial map of a reference object which is a representation of the target object is disclosed herein. The method comprises obtaining LiDAR data 503 of the target object 601 captured by a LiDAR device 203 of the mobile robot 100 as the mobile robot 100 traverses in an environment associated with the target object 601 the LiDAR data including respective point cloud representations of the target object 501 and the environment in various sampling instances; iteratively updating pose data representing estimated pose of the mobile robot 100 with respect to a known reference location in corresponding sampling instances as the mobile robot traverses the environment; extracting a subset of LiDAR data points in the point cloud representation of a previous sampling instance, the subset of LiDAR data points corresponding to features of the target object 601 in the initial map based on the estimated pose of the mobile robot 100 associated with the previous sampling instance; obtaining desired LiDAR data points in the point cloud representation in a current sampling instance, the desired LiDAR data points including current LiDAR data points which correspond to the extracted subset of LiDAR data points in the previous sampling instance; and determining a localization pose of the mobile robot 100 with respect to the target object 601 in the current sampling instance based on the desired LiDAR data points. A system for localizing a mobile robot is also disclosed herein.
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