US 12,466,653 B2
Method for locating a warehousing robot, a method of constructing a map, robot and storage medium
Guangpeng Zhang, Beijing (CN)
Assigned to LINGDONG TECHNOLOGY (BEIJING) CO. LTD., Beijing (CN)
Appl. No. 18/026,105
Filed by LINGDONG TECHNOLOGY (BEIJING) CO. LTD., Beijing (CN)
PCT Filed Jul. 30, 2021, PCT No. PCT/CN2021/109692
§ 371(c)(1), (2) Date Mar. 13, 2023,
PCT Pub. No. WO2022/052660, PCT Pub. Date Mar. 17, 2022.
Claims priority of application No. 202010963415.4 (CN), filed on Sep. 14, 2020.
Prior Publication US 2023/0331485 A1, Oct. 19, 2023
Int. Cl. B65G 1/137 (2006.01)
CPC B65G 1/1375 (2013.01) 15 Claims
OG exemplary drawing
 
12. A warehousing robot, comprising a device body including:
a memory for storing computer programs; and
a processor coupled to the memory and used for executing the computer programs to: acquire an image or video data of a surrounding warehouse environment by using an image sensor on a warehousing robot during movement of the warehousing robot; perform target detection and semantic recognition on the image or video data of the surrounding warehouse environment to obtain target objects in the surrounding warehouse environment and semantic information of the target objects; calculate a relative position relationship between each target object and the warehousing robot based on a transformation relationship between a sensor coordinate system and a robot coordinate system; and determine a location of the warehousing robot in a semantic map according to the relative position relationship between each target object and the warehousing robot and the semantic information of each target object, wherein the semantic map comprises a plurality of objects in the warehouse environment and semantic information of the objects.