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1. WO2022010681 - AUTONOMOUS ROBOTIC NAVIGATION IN STORAGE SITE

Publication Number WO/2022/010681
Publication Date 13.01.2022
International Application No. PCT/US2021/039357
International Filing Date 28.06.2021
IPC
G05D 1/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G05D 1/00 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06T 7/11 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
G06T 7/246 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
20Analysis of motion
246using feature-based methods, e.g. the tracking of corners or segments
G06T 7/50 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
G06T 7/70 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
Applicants
  • BROOKHURST GARAGE, INC. [US]/[US]
Inventors
  • KIM, Young, Joon
  • LEE, Kyuman
  • HWANG, Sunyou
Agents
  • AHN, Dohyun
  • TSANG, Fredrick
  • FARN, Michael, W.
  • BECKER, Daniel, M.
  • BROWNSTONE, Daniel, R.
Priority Data
16/925,24109.07.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) AUTONOMOUS ROBOTIC NAVIGATION IN STORAGE SITE
(FR) NAVIGATION D'UN ROBOT AUTONOME DANS UN SITE DE STOCKAGE
Abstract
(EN) A robot includes an image sensor that captures the environment of a storage site. The robot visually recognizes regularly shaped structures to navigate through the storage site using various object detection and image segmentation techniques. In response to receiving a target location in the storage site, the robot moves to the target location along a path. The robot receives the images as the robot moves along the path. The robot analyzes the images captured by the image sensor to determine the current location of the robot in the path by tracking a number of regularly shaped structures in the storage site passed by the robot. The regularly shaped structures may be racks, horizontal bars of the racks, and vertical bars of the racks. The robot can identify the target location by counting the number of rows and columns that the robot has passed.
(FR) Un robot comprend un capteur d'image qui capture l'environnement d'un site de stockage. Le robot reconnaît visuellement des structures de forme régulière pour naviguer dans le site de stockage à l'aide de diverses techniques de détection d'objets et de segmentation d'image. En réponse à la réception d'un emplacement cible dans le site de stockage, le robot se déplace jusqu'à l'emplacement cible le long d'un trajet. Le robot reçoit les images à mesure que le robot se déplace le long du trajet. Le robot analyse les images capturées par le capteur d'image pour déterminer l'emplacement actuel du robot sur le trajet par suivi d'un nombre de structures de forme régulière que le robot passe dans le site de stockage. Les structures de forme régulière peuvent être des râteliers, des barres horizontales des râteliers et des barres verticales des râteliers. Le robot peut identifier l'emplacement cible en comptant le nombre de rangées et de colonnes que le robot a passées.
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