公开(公告)号：US20210055739A1

公开(公告)日：2021-02-25

申请号：US16718212

申请日：2019-12-18

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiangbin Huang ,  Gaobo Huang ,  Pinjun Fu ,  Youjun Xiong

IPC: G05D1/02 ,  G01S13/88

Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.

公开(公告)号：US11422567B2

公开(公告)日：2022-08-23

申请号：US16718212

申请日：2019-12-18

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiangbin Huang ,  Gaobo Huang ,  Pinjun Fu ,  Youjun Xiong

IPC: G05D1/02 ,  G01S13/88 ,  B25J11/00 ,  B25J9/16 ,  B25J19/00 ,  G01S13/42 ,  G01S7/48 ,  G01S17/42 ,  H02J7/00 ,  G01S17/88 ,  B25J19/02 ,  G01S7/41 ,  G01S13/931

Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.