Granted Patent B2

US 12,201,250 · App. 17/601,026 · Granted Jan 21, 2025

Inventors: Erqi Wu (Beijing, CN); Yansheng Niu (Beijing, CN); Shuai Liu (Beijing, CN)

Assignee: BEIJING ROBOROCK INNOVATION TECHNOLOGY CO., LTD.

A47L11/4011G01S17/931G05D1/024G05D1/0248G05D1/0274G06T7/13A47L2201/04G06T2207/30261

Abstract

Claims (64)

1. A method for dividing a working region for a robot, wherein the method comprises:

scanning an obstacle in a driving path and recording a location parameter of the obstacle, wherein the location parameter comprises a coordinate parameter of an edge of the obstacle, and obtaining a first array based on the coordinate parameter;

obtaining image information of the obstacle in the driving path, wherein the image information comprises a plurality of images of the edge, and obtaining a second array based on the plurality of images of the edge;

determining reference information of the obstacle in the working region based on the location parameter and the image information; and

dividing the working region into a plurality of subregions based on the reference information,

wherein said determining comprises:

comparing the first array and the second array; and

determining, in response to a difference between the first array and the second array falling within a range, the edge of the obstacle as a reference location of the working region.

2. The method according to claim 1 , wherein the scanning an obstacle in a driving path and recording a location parameter of the obstacle comprises:

scanning the obstacle in the driving path by using a lidar, and determining whether a scanned location is the edge of the obstacle;

when determining that the scanned location is the edge of the obstacle, repeatedly scanning the edge for a plurality of times; and

recording the coordinate parameter of the edge of the obstacle in each scan.

3. The method according to claim 2 , further comprising:

selecting coordinate parameters satisfying an adjacent value from multiple sets of the coordinate parameter;

aggregating the selected coordinate parameters; and

storing the aggregated coordinate parameters in the first array.

4. The method according to claim 3 , wherein the obtaining image information of the obstacle in the driving path comprises:

determining whether the scanned location is the edge of the obstacle; and

obtaining the plurality of images of the edge by using a camera from at least one of different locations and different angles when determining that the scanned location is the edge of the obstacle.

5. The method according to claim 4 , further comprising:

extracting characteristic lines from image information obtained based on the plurality of images of the edge;

categorizing characteristic lines with similar angles and similar locations into a same group;

when a number of the characteristic lines in the same group exceeds a threshold, determining the scanned location as a marked location; and

recording a location coordinate of the marked location and storing the location coordinate in a second array.

6. The method according to claim 1 , wherein the dividing the working region into a plurality of subregions based on the reference information comprises:

dividing the working region into the plurality of subregions by using the reference information as an entrance to each subregion; and

marking the plurality of subregions.

7. The method according to claim 6 , wherein the marking comprises marking each subregion with a different color or a different name.

8. A robot for dividing a working region, comprising a processor and a memory, the memory stores computer program instructions that can be executed by the processor, and the processor, when executing the computer program instructions, is configured to:

scan an obstacle in a driving path, and record a location parameter of the obstacle, wherein the location parameter comprises a coordinate parameter of an edge of the obstacle, and obtain a first array based on the coordinate parameter;

obtain image information of the obstacle in the driving path, wherein the image information comprises a plurality of images of the edge, and obtain a second array based on the plurality of images of the edge;

determine reference information of the obstacle in the working region based on the location parameter and the image information; and

divide the working region into a plurality of subregions based on the reference information,

wherein the processor is specification configured to:

compare the first array and the second array; and

determine, in response to a difference between the first array and the second array falling within a range, the edge of the obstacle as a reference location of the working region.

9. The robot according to claim 8 , wherein the processor is further configured to:

scan the obstacle in the driving path by using a lidar, and determine whether a scanned location is the edge of the obstacle;

when determining that the scanned location is the edge of the obstacle, repeatedly scan the edge for a plurality of times; and

record the coordinate parameter of the edge of the obstacle in each scan.

10. The robot according to claim 9 , wherein the processor is further configured to:

select coordinate parameters satisfying an adjacent value from multiple sets of the coordinate parameter;

aggregate the selected coordinate parameters; and

store the aggregated coordinate parameters in the first array.

11. The robot according to claim 10 , wherein the processor is further configured to:

determine whether the scanned location is the edge of the obstacle; and

obtain the plurality of images of the edge by using a camera from at least one of different locations and different angles when determining that the scanned location is the edge of the obstacle.

12. The robot according to claim 11 , wherein the processor is further configured to:

extract characteristic lines from image information obtained based on the plurality of images of the edge;

categorize characteristic lines with similar angles and similar locations into a same group;

when a number of the characteristic lines in the same group exceeds a threshold, determine the scanned location as a marked location; and

record a location coordinate of the marked location and store the location coordinate in a second array.

13. The robot according to claim 8 , wherein the processor is further configured to:

divide the working region into the plurality of subregions by using the reference information as an entrance to each subregion; and

mark the plurality of subregions.

14. The robot according to claim 13 , wherein the processor is further configured to mark each subregion with a different color or a different name.

15. A non-transitory computer-readable storage medium, configured to store computer program instructions, wherein the computer program instructions are invoked and executed by a processor to implement a method for dividing a working region for a robot, and the method comprises:

scanning an obstacle in a driving path, and recording a location parameter of the obstacle, wherein the location parameter comprises a coordinate parameter of an edge of the obstacle, and obtaining a first array based on the coordinate parameter;

obtaining image information of the obstacle in the driving path, wherein the image information comprises a plurality of images of the edge, and obtaining a second array based on the plurality of images of the edge;

determining reference information of the obstacle in the working region based on the location parameter and the image information; and

dividing the working region into a plurality of subregions based on the reference information,

wherein said determining comprises:

comparing the first array and the second array; and

determining, in response to a difference between the first array and the second array falling within a range, the edge of the obstacle as a reference location of the working region.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (61)