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

Patent metadata

Field	Value
Publication number	US-11654572-B2
Application number	US-202016935231-A
Country	US
Kind code	B2
Filing date	Jul 22, 2020
Priority date	Dec 31, 2019
Publication date	May 23, 2023
Grant date	May 23, 2023

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.

First claim

What is claimed is:

1. 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;
determining the detected marker as a first detected marker, inputting the identification information of the marker into the mapping database and obtaining a system default value as a loop release time of 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.

2. The method of claim 1 , wherein the preset condition comprises at least one of a distance condition, a times number condition, and a time condition.

3. The method of claim 1 , wherein the step of determining whether the detected marker meets the preset condition comprises:
determining whether a distance between the current detected marker and the robot is smaller than a distance threshold;
determining the detected marker as meeting the preset condition and outputting a loop signal to map the current scene based on the marker through a signal emitter of the robot, in response to the distance between the detected marker and the robot being smaller than the distance threshold; and
setting a detection times number variable of the marker to zero and returning to the step of detecting the marker in the current scene, in response to the distance between the detected marker and the robot being not smaller than the distance threshold.

4. The method of claim 1 , wherein the step of determining whether the detected marker meets the preset condition comprises:
determining whether a detection times number variable of the marker meeting a distance condition being greater than a times number threshold;
determining the detected marker as meeting the preset condition and outputting a loop signal to map the current scene based on the marker, in response to the detection times number variable of the marker meeting the distance condition being greater than the times number threshold; and
setting a detection times number variable of the marker to zero and returning to the step of detecting the marker in the current scene, in response to the detection times number variable of the marker meeting the distance condition being not greater than the times number threshold.

5. The method of claim 1 , wherein the step of determining whether the detected marker meets the preset condition comprises:
obtaining a loop release time of the current detected marker meeting a times condition as a current loop release time, and calculating a time difference between the current loop release time and a last loop release time;
determining whether the time difference between the current loop release time and the last loop release time is greater than a time threshold;
determining the detected marker as meeting the preset condition and outputting a loop signal to map the current scene based on the marker, in response to the time difference between the current loop release time and the last loop release time is greater than the time threshold; and
setting a detection times number variable of the marker to zero and returning to the step of detecting the marker in the current scene, in response to the time difference between the current loop release time and the last loop release time is not greater than the time threshold.

6. The method of claim 1 , wherein the identification information is one of an identification code and an identification signal.

7. The method of claim 1 , further comprising:
in response to the identification information being retrieved from the mapping database, determining whether the detected marker meets the preset condition, and in response to the detected marker meeting the preset condition, mapping the current scene based on the marker.

8. The method of claim 1 , wherein when the detected marker is not the first detected marker, the loop release time of the detected marker indicates a time of a system of the robot releasing a loop to a laser or a visual SLAM after the detected marker is determined to meet the preset conditions.

9. 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 determining the detected marker as a first detected marker, inputting the identification information of the marker into the mapping database and obtaining a system default value as a loop release time of 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. The storage medium of claim 9 , wherein the instructions for determining whether the detected marker meets the preset condition comprise:
instructions for determining whether a distance between the current detected marker and the robot is smaller than a distance threshold;
instructions for determining the detected marker as meeting the preset condition and outputting a loop signal to map the current scene based on the marker through a signal emitter of the robot, in response to the distance between the detected marker and the robot being smaller than the distance threshold; and
instructions for setting a detection times number variable of the marker to zero and returning to the step of detecting the marker in the current scene, in response to the distance between the detected marker and the robot being not smaller than the distance threshold.

11. The storage medium of claim 9 , wherein the instructions for determining whether the detected marker meets the preset condition comprise:
instructions for determining whether a detection times number variable of the marker meeting a distance condition being greater than a times number threshold;
instructions for determining the detected marker as meeting the preset condition and outputting a loop signal to map the current scene based on the marker, in response to the detection times number variable of the marker meeting the distance condition being greater than the times number threshold; and
instructions for setting a detection times number variable of the marker to zero and returning to the step of detecting the marker in the current scene, in response to the detection times number variable of the marker meeting the distance condition being not greater than the times number threshold.

12. The storage medium of claim 9 , wherein the instructions for determining whether the detected marker meets the preset condition comprises:
instructions for obtaining a loop release time of the current detected marker meeting a times condition as a current loop release time, and calculating a time difference between the current loop release time and a last loop release time;
instructions

Assignees

• Ubtech Robotics Corp Ltd

Inventors

• Guo Rui
• Xie Kun
• Jiang Chenchen
• Liu Zhichao
• Pang Jianxin
• Xiong Youjun

Classifications

• G06T11/26 Primary

  Drawing of charts or graphs · CPC title

• G06T2210/61

  Scene description · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• G06F18/241

  relating to the classification model, e.g. parametric or non-parametric approaches · CPC title