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1. 发明申请

WO2022005574A1 CLIENT-RENDERABLE ELEMENT FOR INDOOR BUILDING MAP 审中-公开
公开(公告)号：WO2022005574A1
公开(公告)日：2022-01-06
申请号：PCT/US2021/028738
申请日：2021-04-23
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： SHAPIRO, Simon Levi , BUERER, David Ross , WESTCOTT, Derek Richard , BELL, Andrew Alan
IPC分类号： G01C21/20 , G01C21/00 , G06F3/048 , G06T3/00 , G01C21/206 , G01C21/383 , G01C21/3896 , G06T11/60 , G06T13/80 , G06T2200/16 , G06T2210/36 , H04W12/06 , H04W4/029 , H04W4/33
摘要： A computerized mapping system is provided, including a map server configured to, in a map serving phase, receive a request from a client device to view a portion of a map at least partially including a building for which an indoor map is available, at a requested level of detail that is outside a range for displaying the indoor map, and transmit a target tile with a prerendered bitmap image for the building, and a client-side renderable geometric element with a perimeter and a client-side renderable visual feature of the internal map feature of the indoor map selected according to a selection criterion set by an authorized user of the indoor map, to the client device for display.

2. 发明申请

WO2021255606A1 PERSONAL PROTECTIVE EQUIPMENT FOR NAVIGATION AND MAP GENERATION WITHIN A VISUALLY OBSCURED ENVIRONMENT 审中-公开
公开(公告)号：WO2021255606A1
公开(公告)日：2021-12-23
申请号：PCT/IB2021/055179
申请日：2021-06-11
申请人： 3M INNOVATIVE PROPERTIES COMPANY
发明人： GABRIEL, Nicholas T. , KRUSE, John M. , SINGH, Gautam , STANKIEWICZ, Brian J. , AVELDSON, Jason L. , CASNER, Glenn E. , COLLINS, Elisa J. , FAHEY, Samuel J. , HAGH-SHENAS, Haleh , HERFORT, Frank T. , JESME, Ronald D. , LUCHT, Steven G. , NYE, Carolyn L. , NYLAND, Adam C. , ODOM, Jacob E. , SCHAEFER, Antonia E. , TUNGJUNYATHAM, Justin
IPC分类号： G01C21/20 , G01C21/32 , G01C21/00 , G01C21/206 , G01C21/383 , G01C21/3848
摘要： The disclosure describes systems (2) of navigating a hazardous environment (8). The system includes personal protective equipment (PPE) (13) and computing device(s) (32) configured to process sensor data from the PPE (13), generate pose data of an agent (10) based on the processed sensor data, and track the pose data as the agent (10) moves through the hazardous environment (8). The PPE (13) may include an inertial measurement device to generate inertial data and a radar device to generate radar data for detecting a presence or arrangement of objects in a visually obscured environment (8). The PPE (13) may include a thermal image capture device to generate thermal image data for detecting and classifying thermal features of the hazardous environment (8). The PPE (13) may include one or more sensors to detect a fiducial marker (21) in a visually obscured environment (8) for identifying features in the visually obscured environment (8). In these ways, the systems (2) may more safely navigate the agent (10) through the hazardous environment (8).

3. 发明申请

WO2023275760A1 SYSTEMS AND METHODS FOR NAVIGATION OF AN AUTONOMOUS SYSTEM 审中-公开
公开(公告)号：WO2023275760A1
公开(公告)日：2023-01-05
申请号：PCT/IB2022/056018
申请日：2022-06-28
申请人： UNIVERSITE DE CAEN NORMANDIE , CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (CNRS) , ECOLE NATIONALE SUPERIEURE D'INGENIEURS DE CAEN
发明人： MOUADDIB, Abdel-Ilah , JEANPIERRE, Laurent
IPC分类号： G06N5/02 , G06N20/00 , G01C21/20 , G01C21/00 , G01C21/005 , G01C21/206 , G05B13/0265 , G06N3/008 , G06N7/01
摘要： A system and a method for generating a navigation path for an autonomous system. The method comprises receiving data comprising characteristics of entities, the entities defining an environment in which the autonomous system is configured to operate; receiving first instructions causing the autonomous system to identify a destination in the environment; generating a navigation path comprising waypoints to be followed by the autonomous system to reach the destination, the waypoints being generated based on the characteristics of the entities and defining segmental paths; executing second instructions causing the autonomous system to navigate along the navigation path; and upon navigating from a first waypoint to a second waypoint: accessing updates of the characteristics of the entities located in a vicinity of a corresponding segmental path; generating a sub-path between the first waypoint and the second waypoint based on second information; and navigating along the sub-path to reach the second waypoint.

4. 发明申请

WO2022006084A1 SYSTEMS AND METHODS FOR PROVIDING A TONE-BASED KIOSK SERVICE 审中-公开
公开(公告)号：WO2022006084A1
公开(公告)日：2022-01-06
申请号：PCT/US2021/039584
申请日：2021-06-29
申请人： NICHOLAS-ALEXANDER, LLC
发明人： WEBSTER, Thomas
IPC分类号： H04M3/16 , G01C21/206 , G06Q10/02 , G06Q20/18 , G06Q20/202 , G06Q20/204 , G06Q20/322 , G06Q20/3272 , G06Q20/4097 , G06Q30/0613 , G06Q50/14 , H04W12/033
摘要： Embodiments provided herein include systems and methods for providing a tone-based kiosk service. One embodiment of a tone-based kiosk includes a display, a processor, and a memory component. The memory component may be configured to store logic that, when executed by the processor, causes the tone-based kiosk to establish an encrypted connection with the mobile device and broadcast a first tone that includes first encrypted data for rendering a user interface at the mobile device, wherein the first encrypted data includes information related to offerings by the establishment. In some embodiments, the logic causes the tone-based kiosk to provide at least a portion of the user interface for display, receive a second tone that includes second encrypted data that includes instructions navigating the user interface via the mobile phone to create order details for an order, and receive an indication that the order is complete.

5. 发明申请

WO2023279123A1 METHOD OF ROUTE MANAGEMENT 审中-公开
公开(公告)号：WO2023279123A1
公开(公告)日：2023-01-05
申请号：PCT/ZA2022/050026
申请日：2022-06-22
申请人： PATOU INVESTMENTS (PTY) LTD
发明人： WOLFF, Tudor Drummond
IPC分类号： G01C21/20 , G01C21/34 , B65G1/137 , G06Q10/04 , B65G1/04 , B65G1/0492 , B65G43/00 , G01C21/206 , G01C21/3469 , G06Q10/047 , G06Q10/08 , G06Q50/28 , G06Q50/30
摘要： A method of route management includes the steps of: (i) providing a plurality of vehicles; (ii) providing pathways along which the vehicles may travel; (iii) determining the current position of each of the vehicles; (iv) associating a destination with each of the vehicles; and (v) determining a first optimal route and speed profile for each vehicle from their current position to the destination, which first optimal route and speed profile for each vehicle is: determined to avoid collision between vehicles; and based on a total efficiency rating for all the vehicles.

6. 发明申请

WO2022268926A1 PROCÉDÉ ET DISPOSITIF DE DÉTERMINATION D'UNE CARTOGRAPHIE D'UN ENVIRONNEMENT TRIDIMENSIONNEL ET SYSTÈME DE CARTOGRAPHIE ASSOCIÉ 审中-公开
公开(公告)号：WO2022268926A1
公开(公告)日：2022-12-29
申请号：PCT/EP2022/067104
申请日：2022-06-23
申请人： FONDATION B-COM
发明人： GONZALEZ, Mathieu , MARCHAND, Eric , KACETE, Amine , ROYAN, Jérôme
IPC分类号： G01C21/20 , G06T7/33 , G01C21/206 , G06T2207/10016 , G06T7/579
摘要： La présente invention concerne un procédé de détermination d'une cartographie d'un environnement tridimensionnel, comprenant une pluralité d'objets, sur la base d'au moins une première image et une deuxième image dudit environnement tridimensionnel, ladite première image et ladite deuxième image étant respectivement acquises par un dispositif d'acquisition d'image présentant deux poses différentes, le procédé comprenant des étapes de : - détermination (E4) d'une pluralité d'éléments caractéristiques communs dans la première image et la deuxième image dudit environnement tridimensionnel, - détermination (E6) de groupes d'éléments caractéristiques au moyen d'une analyse d'images de telle sorte que chaque groupe d'éléments caractéristiques corresponde à un objet de l'environnement tridimensionnel, - estimation (E8) d'une position tridimensionnelle des éléments caractéristiques sur la base d'une triangulation entre les positions des éléments caractéristiques dans la première image et les positions des éléments caractéristiques correspondants dans la deuxième image, et - pour chaque groupe d'éléments caractéristiques, optimisation (E12) des positions tridimensionnelles des éléments caractéristiques du groupe concerné par minimisation d'une variable d'erreur fonction, pour l'ensemble des éléments caractéristiques du groupe concerné, d'une distance entre une position détectée desdits éléments caractéristiques issue au moins de la première image et une position bidimensionnelle associée à la position tridimensionnelle estimée correspondante. Un dispositif de détermination d'une cartographie et un système de cartographie sont également décrits.

7. 发明申请

WO2022002149A1 一种初始定位方法、视觉导航设备、仓储系统审中-公开
公开(公告)号：WO2022002149A1
公开(公告)日：2022-01-06
申请号：PCT/CN2021/103651
申请日：2021-06-30
申请人：杭州海康机器人技术有限公司
发明人：王力
IPC分类号： G01C21/20 , G01C11/02 , G01C11/04 , G01C21/206
摘要：提供了一种初始定位方法及装置、视觉导航设备、仓储系统、计算机可读存储介质、计算机程序产品，该方法包括：获取第一视觉导航设备在目标场地的上线区域启动之后，通过摄像头采集的地面图像，得到初始定位图像，其中，目标场地包括多个区域，多个区域分为上线区域和非上线区域，第一视觉导航设备被预先置于多个区域中的任意一个上线区域（101）；计算初始定位图像与每张上线样本图像的特征匹配程度（102）；确定与初始定位图像的特征匹配程度最高的上线样本图像的定位信息（103）；根据特征匹配程度最高的上线样本图像的定位信息，确定视觉导航设备的初始定位的定位结果（104）。该初始定位方法能够提高初始定位的效率，进而，提高上线效率。

8. 发明申请

WO2021250431A1 MEASURING METHOD AND DEVICE 审中-公开
公开(公告)号：WO2021250431A1
公开(公告)日：2021-12-16
申请号：PCT/GB2021/051468
申请日：2021-06-11
申请人： KONEKSA HEALTH INC. , KELLY, Peter John , ELLIS, Robert David , HUANG, Chengrui
发明人： KELLY, Peter John , ELLIS, Robert David , HUANG, Chengrui
IPC分类号： G01C21/14 , A61B5/11 , G06K9/00 , G01C21/20 , G01C22/00 , A61B5/1112 , A61B5/112 , A61B5/1123 , A61B5/6898 , G01C21/206 , G01C22/006 , G01P15/18 , G06K9/00563 , G06V40/25
摘要： An apparatus and method are disclosed for determining movement information for a user that carries an accelerometer whilst moving. The apparatus receives acceleration data from the accelerometer that are defined relative to a frame of reference of the accelerometer. A transformation is determined and applied to the acceleration data or to data derived from the acceleration data to determine acceleration data is a frame of reference of the user that includes a direction of travel of the user and a side to side direction transverse to the direction of travel of the user. The acceleration data or data derived from the acceleration data is analysed to determine a time period corresponding either to a stride period or to a step period of the user as the user is walking or running; and information about accelerations in the side to side direction are used to disambiguate whether the determined time period corresponds to the stride period of the user or to the step period of the user.

9. 发明申请

WO2021259192A1 路径规划方法、装置、机器人及存储介质审中-公开
公开(公告)号：WO2021259192A1
公开(公告)日：2021-12-30
申请号：PCT/CN2021/101206
申请日：2021-06-21
申请人：京东科技信息技术有限公司
发明人：蔡小龙 , 王超 , 姚秀军 , 桂晨光 , 蔡禹丞 , 马福强 , 李振 , 郭新然 , 崔丽华
IPC分类号： G05D1/02 , G01C21/34 , G01C21/20 , G01C21/206 , G01C21/3446 , G05D1/0214 , G05D1/0217
摘要：一种路径规划方法、装置、机器人及存储介质，路径规划方法包括：对格栅地图中起点和终点之间的可通行区域进行分级处理，并确定每级区域对应的代价值（S21）；基于每级区域的代价值从起点开始对可通行区域进行遍历，确定符合预设函数最小值的多个目标节点（S22）；以及基于多个目标节点确定机器人的目标路径（S23）。

10. 发明申请

WO2021254369A1 机器人重定位方法、装置、电子设备及存储介质审中-公开
公开(公告)号：WO2021254369A1
公开(公告)日：2021-12-23
申请号：PCT/CN2021/100284
申请日：2021-06-16
申请人：京东科技信息技术有限公司
发明人：马福强 , 王超 , 姚秀军 , 桂晨光 , 蔡禹丞 , 蔡小龙 , 李振 , 郭新然 , 崔丽华
IPC分类号： G01C21/00 , G01C21/20 , G01S17/88 , G01C21/005 , G01C21/206
摘要：提供了一种机器人重定位方法、装置、电子设备及存储介质，其中该方法包括：在确定机器人未位于原点的情况下，获取当前区域对应的栅格地图（S101）；基于预设第一深度规则对该栅格地图进行降采样，生成第一多分辨率栅格地图（S102）；对第一多分辨率栅格地图进行迭代搜索，确定机器人在栅格地图中的第一位置（S103）；以及确定第一位置为机器人相对于原点的位置并进行输出（S104）。该方法可以快速完成重定位，并且当存在重复场景时可避免出现重定位错误的情况。

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