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公开(公告)号：US11579624B2
公开(公告)日：2023-02-14
申请号：US16935234
申请日：2020-07-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Chenchen Jiang , Kun Xie , Zhichao Liu , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).
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公开(公告)号：US20220036065A1
公开(公告)日：2022-02-03
申请号：US16953378
申请日：2020-11-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Chenchen Jiang , Youjun Xiong
Abstract: The present disclosure provides a loop closure detection method, a mobile device, and a computer readable storage medium. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.
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公开(公告)号：US20210183116A1
公开(公告)日：2021-06-17
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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公开(公告)号：US11593974B2
公开(公告)日：2023-02-28
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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Patent Agency Ranking
5.发明申请公开(公告)号：US20220392103A1
公开(公告)日：2022-12-08
申请号：US17488343
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhanjia Bi , Youjun Xiong
Abstract: A visual positioning method and a mobile machine using the same are provided. The method includes: extracting a plurality of corner feature points corresponding to a current image; determining whether a distance between each pair of the plurality of corner feature points is less than a first preset threshold; if yes, determining whether a grayscale value of each of the plurality of corner feature points with the distance less than the first preset threshold is within a second preset threshold range; if yes, obtaining cluster set(s) of the corner feature points; screening a plurality of valid feature points from the cluster set(s); determining a positioning reliability based on a ratio of amount of the valid feature points to an amount of the plurality of corner feature points; and if the positioning reliability is within a preset range, performing a visual positioning based on the positioning reliability.
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公开(公告)号：US20220147754A1
公开(公告)日：2022-05-12
申请号：US17463523
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Zhanjia Bi , Yongsheng Zhao
IPC: G06K9/62
Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.
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公开(公告)号：US11983916B2
公开(公告)日：2024-05-14
申请号：US17463523
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Zhanjia Bi , Yongsheng Zhao
IPC: G06V10/75
CPC classification number: G06V10/751 , G06V10/759
Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.
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公开(公告)号：US11654572B2
公开(公告)日：2023-05-23
申请号：US16935231
申请日：2020-07-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Kun Xie , Chenchen Jiang , Zhichao Liu , Jianxin Pang , Youjun Xiong
CPC classification number: B25J9/1697 , B25J9/161 , B25J9/1653 , B25J9/1664 , B25J13/08
Abstract: The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.
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公开(公告)号：US11423646B2
公开(公告)日：2022-08-23
申请号：US16953378
申请日：2020-11-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Chenchen Jiang , Youjun Xiong
Abstract: A loop closure detection method, a mobile device, and a computer readable storage medium are provided. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.
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