US 2021/0197388 A1 · ROBOT MAPPING METHOD AND ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME

Abstract

The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.

Claims18

Dependent claims

A computer-implemented mapping method for a robot, comprising steps of:

detecting a marker in a current scene through a visual sensor of the robot, wherein the marker has identification information capable of being identified by the robot;
identifying the identification information of the marker, and retrieving the marker in a mapping database based on the identification information;
and
inputting the identification information of the marker into the mapping database and obtaining a loop release time for the first detected marker, in response to the identification information being not retrieved from the mapping database
determining whether the detected marker meets a preset condition;
and
mapping the current scene based on the marker, in response to the detected marker meeting the preset condition.

4 more elements

A robot with mapping functions, comprising:

a memory;
a processor;
a visual sensor;
and
one or more computer programs stored in the memory and executable on the processor;
wherein the one or more computer programs comprise:
instructions for detecting a marker in a current scene through the visual sensor, wherein the marker has identification information capable of being identified by the robot;
instructions for identifying the identification information of the marker, and retrieving the marker in a mapping database based on the identification information;
and
instructions for inputting the identification information of the marker into the mapping database and obtaining a loop release time for the first detected marker, in response to the identification information being not retrieved from the mapping database;
instructions for determining whether the detected marker meets a preset condition;
and
instructions for mapping the current scene based on the marker, in response to the detected marker meeting the preset condition.

10 more elements

A non-transitory computer readable storage medium storing instructions executable on a processor, and the instructions comprise:

instructions for detecting a marker in a current scene through a visual sensor of the robot, wherein the marker has identification information capable of being identified by the robot;
instructions for identifying the identification information of the marker, and retrieving the marker in a mapping database based on the identification information;
and
instructions for inputting the identification information of the marker into the mapping database and obtaining a loop release time for the first detected marker, in response to the identification information being not retrieved from the mapping database;
instructions for determining whether the detected marker meets a preset condition;
and
instructions for mapping the current scene based on the marker, in response to the detected marker meeting the preset condition.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application

16/935,231Filed 22 Jul 2020

Priority

CN 201911416830.131 Dec 2019

Published

1 Jul 2021

Term ends

Not estimatedThe source records don’t support an estimate.

Classification9 codes

B25J 9/1697
Characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor…:…
G05D 1/0274
Using internal positioning means: using mapping information stored in a memory device
B25J 9/161
Characterised by the control system, structure, architecture: hardware, e.g. neural networks, fuzzy logic, interfaces, processor
B25J 9/1653
Characterised by the control loop: parameters identification, estimation, stiffness, accuracy, error analysis

Robot mapping method and robot and computer readable storage medium using the same

Life of this patent

Robot mapping method and robot and computer readable storage medium using the same

Life of this patent

Abstract

Claims18