公开(公告)号：WO2021248845A1

公开(公告)日：2021-12-16

申请号：PCT/CN2020/131194

申请日：2020-11-24

Applicant: 珠海一微半导体股份有限公司

Inventor： 黄惠保 ,  周和文 ,  陈卓标

IPC: G05D1/02 ,  A47L11/24 ,  A47L11/4061 ,  A47L2201/04 ,  G05D1/0223 ,  G05D1/0236 ,  G05D1/024 ,  G05D1/0253 ,  G05D1/0276

Abstract: 一种机器人沿边行走的清洁分区规划方法、芯片及机器人，清洁分区规划方法不需要预存有完整的全局地图，而是根据沿边过程中激光扫描获取的地图图像像素信息，在预限定清洁区域中实时划分出机器人的初始房间清洁分区，并在同一预限定清洁区域中，通过反复迭代处理未清洁区域的墙体边界来拓展机器人的初始房间清洁分区，从而确保在同一预限定清洁区域中最终形成的预设房间清洁分区的轮廓边界与室内家居房间墙体边界相似，提高机器人沿着所述预设房间清洁分区的边界导航的效率，也有效预防机器人在预设房间清洁分区内重复清扫。

公开(公告)号：WO2022010681A1

公开(公告)日：2022-01-13

申请号：PCT/US2021/039357

申请日：2021-06-28

Applicant: BROOKHURST GARAGE, INC.

Inventor： KIM, Young, Joon ,  LEE, Kyuman ,  HWANG, Sunyou

IPC: G05D1/02 ,  G05D1/00 ,  G06T7/11 ,  G06T7/246 ,  G06T7/50 ,  G06T7/70 ,  B25J19/02 ,  B25J13/08 ,  B64C2201/063 ,  B64C2201/066 ,  B64C2201/127 ,  B64C2201/141 ,  B64C2211/00 ,  B64C39/024 ,  G05D1/0253 ,  G06N3/08 ,  G06T2207/10028 ,  G06T2207/30242 ,  G06T7/12 ,  G06T7/74

Abstract: A robot includes an image sensor that captures the environment of a storage site. The robot visually recognizes regularly shaped structures to navigate through the storage site using various object detection and image segmentation techniques. In response to receiving a target location in the storage site, the robot moves to the target location along a path. The robot receives the images as the robot moves along the path. The robot analyzes the images captured by the image sensor to determine the current location of the robot in the path by tracking a number of regularly shaped structures in the storage site passed by the robot. The regularly shaped structures may be racks, horizontal bars of the racks, and vertical bars of the racks. The robot can identify the target location by counting the number of rows and columns that the robot has passed.

公开(公告)号：WO2021231104A1

公开(公告)日：2021-11-18

申请号：PCT/US2021/030206

申请日：2021-04-30

Applicant: AUTOGUIDE, LLC

Inventor： BUKHARI, Jerrar ,  BARRON, Tyler ,  HOLWELL, Justin

IPC: G06K9/00 ,  G06T7/60 ,  G06T17/00 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0251 ,  G05D1/0253 ,  G06K9/3233

Abstract: An example method of detecting an element using an autonomous vehicle includes the following operations: using a sensor on the autonomous vehicle to capture image data in a region of interest containing the element, where the image data represents components of the element; filtering the image data to produce filtered data having less of an amount of data than the image data; identifying the components of the element by analyzing the filtered data using a deterministic process; and detecting the element based on the components.

公开(公告)号：WO2021252427A1

公开(公告)日：2021-12-16

申请号：PCT/US2021/036304

申请日：2021-06-08

Applicant: RE2, INC. ,  ALLEN, Arthur, Reeg ,  SGROI, Amanda

Inventor： SCHNEIDER, Travis

IPC: B66F9/06 ,  B66F11/04 ,  B25J5/00 ,  G05D1/02 ,  B25J11/00 ,  B25J13/08 ,  B25J15/00 ,  B25J19/0025 ,  B25J5/007 ,  B25J5/04 ,  B25J9/046 ,  B25J9/162 ,  B25J9/1682 ,  B25J9/1697 ,  B66F11/044 ,  B66F9/063 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0293 ,  G05D2201/0202 ,  H02S10/00 ,  H02S20/10

Abstract: A robotic PV module installation system (100) for populating a solar generation plant with PV modules (120) with minimal human intervention. The PV module installation system can include an aerial work platform (AWP), a linear slide (220), and a robotic arm (114). The AWP can include an articulated boom (212). The AWP can also be configured for movement over off- road terrain. The linear slide can be coupled to a free-end of the articulated boom. The robotic arm can be coupled to a slide of the linear slide to increase a horizonal reach of the robotic arm through movement of the slide along the linear slide. The robotic arm can also include an end of arm tooling (240) configured to pick up PV modules.

公开(公告)号：WO2021248846A1

公开(公告)日：2021-12-16

申请号：PCT/CN2020/131195

申请日：2020-11-24

Applicant: 珠海一微半导体股份有限公司

Inventor： 黄惠保 ,  周和文 ,  陈卓标

IPC: G05D1/02 ,  A47L11/24 ,  G05D1/0223 ,  G05D1/0236 ,  G05D1/024 ,  G05D1/0253 ,  G05D1/0276

Abstract: 本发明公开一种机器人沿边行走的区域清扫规划方法、芯片及机器人，该区域清扫规划方法包括：在机器人实时扫描构建的激光地图上，控制机器人在当前的规划起点位置处框定的预限定清洁区域内作沿边行走，使得机器人在沿边行走过程中不跨出所述预限定清洁区域；同时根据所述预限定清洁区域内符合预设墙体环境条件的房间清洁分区的划分情况，控制机器人在相匹配的区域内沿边行走，当机器人在这个相匹配的区域内沿边行走返回所述规划起点位置时，控制机器人在这个相匹配的区域内执行规划式清扫；当机器人在这个相匹配的区域内完成规划式清扫时，控制机器人移动至未清扫区域的下一个规划起点位置，再重复前述步骤，直到检测不出未清扫区域。

公开(公告)号：WO2022005698A1

公开(公告)日：2022-01-06

申请号：PCT/US2021/036096

申请日：2021-06-07

Applicant: SNAP INC.

Inventor： KALKGRUBER, Matthias ,  MENDEZ, Erick Mendez ,  WAGNER, Daniel ,  WOLF, Daniel ,  ZHOU, Kai

IPC: G05D1/02 ,  G01C11/02 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0178 ,  G02B27/0172 ,  G05D1/0253 ,  G06F3/012 ,  H04N5/2252 ,  H04N5/3532

Abstract: Visual-inertial tracking of an eyewear device using a rolling shutter camera(s). The eyewear device includes a position determining system. Visual-inertial tracking is implemented by sensing motion of the eyewear device. An initial pose is obtained for a rolling shutter camera and an image of an environment is captured. The image includes feature points captured at a particular capture time. A number of poses for the rolling shutter camera is computed based on the initial pose and sensed movement of the device. The number of computed poses is responsive to the sensed movement of the mobile device. A computed pose is selected for each feature point in the image by matching the particular capture time for the feature point to the particular computed time for the computed pose. The position of the mobile device is determined within the environment using the feature points and the selected computed poses for the feature points.

公开(公告)号：WO2021254376A1

公开(公告)日：2021-12-23

申请号：PCT/CN2021/100304

申请日：2021-06-16

Applicant: 京东科技信息技术有限公司

Inventor： 许哲涛

IPC: G05D1/02 ,  G05D1/0236 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0259 ,  G05D2201/02

Abstract: 一种运送机器人的控制方法、装置、运送机器人和存储介质。控制方法包括：通过摄像部件进行图像采集，得到目标图像（S301）；在目标图像中识别图形标识码，并确定图形标识码在目标图像中的位置信息（S302），图像标识码设置于配送箱体的外侧；根据位置信息确定运送机器人与配送箱体的相对位置（S303）；以及基于相对位置进行移动操作，以使运送机器人与配送箱体结合（S304）。

公开(公告)号：WO2021146118A1

公开(公告)日：2021-07-22

申请号：PCT/US2021/012777

申请日：2021-01-08

Applicant: TRIMBLE INC.

Inventor： NICHOLS, Mark

IPC: G06F3/01 ,  G06T19/00 ,  G06T7/70 ,  B60K35/00 ,  G06F3/03 ,  E02F3/00 ,  B60K2370/1529 ,  B60K2370/177 ,  B60K2370/61 ,  E02F9/205 ,  E02F9/261 ,  G02B2027/0181 ,  G02B2027/0183 ,  G02B2027/0187 ,  G02B27/0172 ,  G02B27/0179 ,  G05D1/0253 ,  G05D1/027 ,  G05D1/0278 ,  G06F3/011 ,  G06F3/012 ,  G06F3/0304 ,  G06K9/00671 ,  G06T19/006 ,  G06T2207/30204 ,  G06T2207/30244 ,  G06T7/74

Abstract: Systems and methods described herein provide augmented reality images to an operator of a machine. A pose of an augmented reality device relative to a cab of the machine is determined using image information. A pose of the augmented reality device in a real world coordinate frame is determined using a pose of the machine in the real world coordinate frame and the pose of the augmented reality device relative to the cab of the machine. Digital content is provided on one or more displays of the augmented reality device. The digital content is arranged on the one or more displays based on the pose of the augmented reality device in the real world coordinate frame.