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

Patent metadata

Field	Value
Publication number	US-2021197388-A1
Application number	US-202016935231-A
Country	US
Kind code	A1
Filing date	Jul 22, 2020
Priority date	Dec 31, 2019
Publication date	Jul 1, 2021
Grant date	—

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; 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.

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 the 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 the loop release time of the current detected marker meeting the 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 . 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.

8 . The robot of claim 7 , wherein the robot further comprises a signal emitter, and 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 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 the signal emitter, 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.

9 . The robot of claim 7 , 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 the 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.

10 . The robot of claim 7 , wherein the instructions for determining whether the detected marker meets the preset condition comprise:
instructions for obtaining the loop release time of the current detected marker meeting the 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 for determining whether the time difference between the current loop release time and the last loop release time is greater than a time 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 time difference between the current loop release time and the last loop release time is greater than the time 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 time difference between the current loop re

Assignees

• Ubtech Robotics Corp Ltd

Inventors

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

Classifications

• G06F18/241

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

• G06T11/26 Primary

  Drawing of charts or graphs · CPC title

• G06V30/224

  of printed characters having additional code marks or containing code marks · CPC title

• G06V10/245

  by locating a pattern; Special marks for positioning · CPC title

• G06V20/10

  Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) · CPC title