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公开(公告)号：US20240134033A1
公开(公告)日：2024-04-25
申请号：US18547026
申请日：2022-03-04
申请人： Robert Bosch GmbH
CPC分类号： G01S13/583 , G01S7/0232 , G01S7/0235 , G01S13/282 , G01S17/26 , G01S17/58
摘要： A method for determining a movement state of a rigid body relative to an environment using a multiplicity of measurement data sets relating to objects in the environment around the body. Each measurement data set includes a measurement time, a Doppler velocity, and an azimuth angle in relation to a respective sensor reference system. The method includes determining a movement state of the body relative to the environment as a velocity vector and an angular velocity vector in a body reference system. At least one set of conditions that includes a plurality of measurement data sets is created. A function dependent on Doppler velocity deviations between estimated Doppler velocities and the Doppler velocities of the measurement data sets included in the set of conditions is minimized in a regression analysis for the set of conditions. The estimated Doppler velocities are regarded as dependent variables in the regression analysis.
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公开(公告)号：US20220236073A1
公开(公告)日：2022-07-28
申请号：US17596131
申请日：2020-05-07
申请人： Robert Bosch GmbH
IPC分类号： G01C21/00 , G01S17/89 , G01S17/931
摘要： A method for creating digital maps with the aid of a control unit. Measured data of surroundings are received during a measuring run. A SLAM method is carried out for ascertaining a trajectory of the measuring run based on the received measured data. The received measured data are transformed into a coordinate system of the trajectory. The transformed measured data are used for the purpose of creating an intensity map. Features are extracted from the intensity map and are stored in a feature map. A method for carrying out a localization, a control unit, a computer program as well as a machine-readable memory medium are also described.
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公开(公告)号：US20240160224A1
公开(公告)日：2024-05-16
申请号：US18549257
申请日：2022-05-25
申请人： Robert Bosch GmbH
发明人： Robert Schirmer , Sebastian Scherer
IPC分类号： G05D1/43 , G05D1/622 , G05D105/10 , G05D105/15 , G05D111/10 , G05D111/50
CPC分类号： G05D1/43 , G05D1/622 , G05D2105/10 , G05D2105/15 , G05D2111/10 , G05D2111/52 , G05D2111/54
摘要： A method for determining a motion path on a surface in an environment, along which motion path a mobile appliance, in particular a robot, preferably a domestic robot or a robot vacuum cleaner, is intended to move. The method includes obtaining environment information and determining a region of the surface intended to be covered by the motion of the mobile appliance; determining, while taking into account the environment information, whether within the region there is at least one uneven area in the surface that can be negotiated by the mobile appliance; and determining the motion path while taking into account the at least one uneven area, if there is one. A mobile appliance is also described.
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公开(公告)号：US20220162834A1
公开(公告)日：2022-05-26
申请号：US17425768
申请日：2020-01-22
申请人： Robert Bosch GmbH
摘要： A method is for performing state estimation of position and orientation of a plurality of modules of a common system, which are movable relative to one another via joints, using inertial sensors that are arranged on the modules. At least one vector pair is determined, which represents kinematic relationships of at least one of the joints and of two of the modules connected to the at least one joint, and which is included in the state estimation.
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5.发明申请公开(公告)号：US20220221304A1
公开(公告)日：2022-07-14
申请号：US17595787
申请日：2020-05-18
申请人： Robert Bosch GmbH
发明人： Georg Stellmann , Sebastian Scherer
摘要： A method for creating a surroundings map for use in the autonomous navigation of a mobile robot in a map-based localization system in a logistics environment. Mobile objects of a merchandise management system having a known position are incorporated into the process of creating the surroundings map.
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