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1. 发明公开

EP4270134A1 ROBOT CONTROL METHOD AND APPARATUS, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM 审中-公开
公开(公告)号：EP4270134A1
公开(公告)日：2023-11-01
申请号：EP22748815.2
申请日：2022-01-11
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： TANG, Enqiong , WANG, Chao , YAO, Xiujun , GUI, Chenguang
IPC分类号： G05D1/02
摘要： The present invention relates to the technical field of robots and provides a robot control method and apparatus, and a non-transitory computer readable storage medium. The robot control method comprises: forming a closed plane graph according to the size of a robot chassis, the closed plane graph passing through the center point of the robot chassis and a target point on a robot planned path, and the connection line between the center point and the target point is an axis of symmetry of the closed plane graph; performing laser irradiation on the region of the closed plane graph from the center point to obtain a laser point set; and controlling the motion state of the robot according to the farthest distance between all laser points in the laser point set and the center point.

2. 发明公开

EP4290328A1 PATH OPTIMIZATION METHOD AND APPARATUS, AND ROBOT AND STORAGE MEDIUM 审中-公开
公开(公告)号：EP4290328A1
公开(公告)日：2023-12-13
申请号：EP21924402.7
申请日：2021-12-14
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： CHEN, Yongyu , WANG, Chao , YAO, Xiujun , GUI, Chenguang , CUI, Lihua
IPC分类号： G05D1/02
摘要： A method and an apparatus (8) for path optimization, a robot (9) and a storage medium. The method includes: acquiring (S101) an initial path of a robot (9), and iteratively optimizing the initial path based on the following steps until a preset iteration termination condition is met to obtain obstacle avoidance path of the robot (9); acquiring (S102) an iteration path corresponding to a current iteration process, determining a smoothness cost corresponding to the iteration path and a smoothness optimal gradient corresponding to an iteration path point in the iteration path; determining (S103) a robot's (9) footprint contour corresponding to the iteration path point, and searching for a first nearest obstacle distance corresponding to the footprint contour; determining (S104) an obstacle cost corresponding to the iteration path and an obstacle optimal gradient corresponding to the iteration path point based on the first nearest obstacle distance; adjusting (S105) the iteration path point based on the smoothness optimal gradient and the obstacle optimal gradient to acquire an iteration path corresponding to a next iteration process; inputting (S106) the smoothness cost and the obstacle cost to a preset objective function.

3. 发明公开

EP4160474A1 ROBOT RELOCALIZATION METHOD AND APPARATUS, AND STORAGE MEDIUM AND ELECTRONIC DEVICE 审中-公开
公开(公告)号：EP4160474A1
公开(公告)日：2023-04-05
申请号：EP21842606.2
申请日：2021-06-08
申请人： JINGDONG TECHNOLOGY INFORMATION TECHNOLOGY CO., LTD.
发明人： YAO, Xiujun , MA, Fuqiang , WANG, Chao , GUI, Chenguang , CUI, Lihua
IPC分类号： G06K9/00
摘要： A robot relocalization method and apparatus, and a storage medium and an electronic device. The method comprises: performing feature coding on local visual features of image data to obtain image vector features, and searching, in a pre-set key frame database, for the image vector features subjected to dimension reduction processing, so as to obtain a plurality of search results (S120); solving the pose of a robot according to each search result, so as to obtain a first pose initial value, and performing matching on laser point cloud data in a pre-set two-dimensional grid map according to speed data and displacement data, so as to obtain a first matching result (S130); and generating a second matching result according to the first pose initial value and the first matching result, and performing robot relocalization according to a second pose initial value, the first matching result and the second matching result.

4. 发明公开

EP4207741A1 IMAGE PROCESSING METHOD AND RELATED DEVICE 审中-公开
公开(公告)号：EP4207741A1
公开(公告)日：2023-07-05
申请号：EP21893723.3
申请日：2021-10-29
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： YAO, Xiujun , GUI, Chenguang , XU, Zhetao
IPC分类号： H04N5/232
摘要： The present disclosure provides an image processing method, a controller, an image processing robot, and a non-transitory computer-readable storage medium and relates to the technical field of robots. The image processing method comprises : controlling a reference light source to project a reference line in the lengthwise direction of a photographed object; controlling a camera to move in the lengthwise direction of the photographed object to photograph different segments of the photographed object and to acquire images of the segments of the photographed object, the images comprising different reference line segments of the reference line; aligning the images by using the reference line segments that the images comprise as a reference; and stitching the aligned images to acquire a full image of the photographed object. The present disclosure allows the images of the segments of the photographed object to be aligned, thus increasing the image quality of the stitched image.

5. 发明公开

EP4202497A1 LOCALIZATION METHOD AND APPARATUS, AND COMPUTER APPARATUS AND COMPUTER-READABLE STORAGE MEDIUM 审中-公开
公开(公告)号：EP4202497A1
公开(公告)日：2023-06-28
申请号：EP21920821.2
申请日：2021-12-17
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： YAO, Xiujun , GUI, Chenguang , CHEN, Jiannan , MA, Fuqiang , WANG, Chao , CUI, Lihua , WANG, Feng
IPC分类号： G01S17/86 , G01S17/89 , G06F16/29 , G06T7/73
摘要： A localization method and apparatus, and a computer apparatus and a computer-readable storage medium. The localization method comprises: performing radar mapping and visual mapping in advance by using a radar sensor and a vision sensor (1) ; and combining radar localization and visual localization, and providing a visual localization result for a navigation object for navigation on a grid map obtained by means of the radar localization (2) . According to the localization method, laser SLAM and visual SLAM are fused, such that the advantages thereof are complementary, the problems during the working process of both laser SLAM and visual SLAM are solved, and a set of low-cost and stable localization schemes is provided for a navigation object.

6. 发明公开

EP4155858A1 GUIDANCE CONTROL METHOD AND APPARATUS, CHARGING PILE AND ROBOT 审中-公开
公开(公告)号：EP4155858A1
公开(公告)日：2023-03-29
申请号：EP21905187.7
申请日：2021-09-23
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： YAO, Xiujun , GUI, Chenguang , XU, Zhetao
IPC分类号： G05D1/02
摘要： A guidance control method and apparatus, a charging pile and a robot. The guidance control method comprises : step 101 : after guidance request information sent by a robot (22) is received, triggering a first positioning circuit (211) to send first request information at a predetermined period, and triggering a second positioning circuit (212) to send second request information at a predetermined period; step 102 : after the first positioning circuit (211) receives first response information, determining a first distance (R1) of the robot (22) relative to the first positioning circuit (211) according to a time delay between sending the first request information and receiving the first response information by the first positioning circuit (211); step 103 : after the second positioning circuit (212) receives second response information, determining a second distance (R2) of the robot (22) relative to the second positioning circuit (212) according to a time delay between sending the second request information and receiving the second response information by the second positioning circuit (212); step 104 : determining the relative position of the robot (22) relative to the charging pile (21) according to the first distance and the second distance; and step 105 : the robot (22) adjusting the travel route according to the relative position so as to complete the docking between the robot (22) and the charging pile (21).

7. 发明公开

EP4300237A1 ROBOT TRAVELING METHOD AND APPARATUS, AND ELECTRONIC DEVICE, STORAGE MEDIUM AND PROGRAM PRODUCT 审中-公开
公开(公告)号：EP4300237A1
公开(公告)日：2024-01-03
申请号：EP21927694.6
申请日：2021-12-17
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： TANG, Enqiong , WANG, Chao , YAO, Xiujun , GUI, Chenguang
IPC分类号： G05D1/02
摘要： A robot traveling method and apparatus, and an electronic device, a storage medium and a program product. The method comprises: detecting an obstacle, and acquiring first coordinate points of the detected obstacle in a first coordinate system (S101); performing coordinate system conversion on the first coordinate points, so as to acquire second coordinate points of the obstacle in a second coordinate system (S102); acquiring a first azimuth corresponding to each second coordinate point, traversing all the first azimuths, and performing coordinate axis rotation on all the second coordinate points according to the currently traversed first azimuth, so as to determine the farthest target coordinate point a robot is allowed to reach when walking along the currently traversed first azimuth (S103); and acquiring a target azimuth deviation of the robot on the basis of a target coordinate point corresponding to each first azimuth, and controlling the traveling of the robot according to the target azimuth deviation (S104).

8. 发明公开

EP4224892A1 MULTI-DEVICE COOPERATION METHOD, APPARATUS, SYSTEM AND MEDIUM 审中-公开
公开(公告)号：EP4224892A1
公开(公告)日：2023-08-09
申请号：EP21874215.3
申请日：2021-09-10
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： MIN, Lingji , YAO, Xiujun , GUI, Chenguang , CUI, Lihua , DENG, Chao , ZHAO, Qingxiang
IPC分类号： H04W4/06
摘要： Disclosed are a method, an apparatus and a system for multi-device cooperation and medium. The method for multi-device cooperation is applied to any one of requesting devices, the method including: broadcasting a cooperation request; determining other requesting devices responding to the cooperation request and regarding the other requesting devices responding to the cooperation request as cooperative devices; and establishing a near field wireless communication connection with the cooperative device, and performing data interaction with the cooperative device based on the near field wireless communication.

9. 发明公开

EP4170452A1 PATH PLANNING METHOD AND APPARATUS, ROBOT, AND STORAGE MEDIUM 审中-公开
公开(公告)号：EP4170452A1
公开(公告)日：2023-04-26
申请号：EP21828991.6
申请日：2021-06-21
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： CAI, Xiaolong , WANG, Chao , YAO, Xiujun , GUI, Chenguang , CAI, Yucheng , MA, Fuqiang , LI, Zhen , GUO, Xinran , CUI, Lihua
IPC分类号： G05D1/02 , G01C21/34 , G01C21/20
摘要： Disclosed are a path planning method and a device, a robot and a storage medium. The method includes: grading a traversable region between a starting point and an end point in a grid map, and determining cost values corresponding to regions of each level (S21); traversing the traversable region from the starting point based on the cost values of the regions of each level, and determining a plurality of target nodes conforming to a minimum value of a preset function (S22); and determining a target path of a robot based on the plurality of target nodes (S23).

10. 发明公开

EP4169816A1 TOWING ROBOT AND TRANSPORTATION SYSTEM AND CONTROL METHOD THEREOF 审中-公开
公开(公告)号：EP4169816A1
公开(公告)日：2023-04-26
申请号：EP21829457.7
申请日：2021-06-18
申请人： Jingdong Technology Information Technology Co., Ltd.
发明人： WANG, Hui , GUI, Chenguang , YAO, Xiujun
IPC分类号： B62D49/06 , B60D1/14
摘要： Disclosed is a traction robot, a conveyance system and a method for controlling a traction robot. The traction robot includes a main body (1), and further includes a control assembly (2) and a rotating arm (3). The rotating arm (3) is rotationally assembled on the main body (1). The rotating arm (3) comprises a first rotating arm (301) and a second rotating arm (302). The first rotating arm (301) and the second rotating arm (302) are both provided with a clamping part (5) for clamping a towed article on one side facing the towed article, and expansion members (4) are both provided between the clamping part (5) and the rotating arm (3). The control assembly (2) drives fluid input into or discharge from the expansion member (4) to control expansion or retraction of the expansion member (4), so as to control the clamping part (5) to clamp or release the towed article.

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