公开(公告)号：US20220180609A1

公开(公告)日：2022-06-09

申请号：US17482450

申请日：2021-09-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Mingqiang Huang ,  Zhichao Liu ,  Youfang Lai ,  Yun Zhao

IPC: G06T19/00 ,  G06T19/20 ,  G06T15/50 ,  G06T7/73 ,  G06F16/29

Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.

公开(公告)号：US20210154835A1

公开(公告)日：2021-05-27

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGJIAN LIU ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.

公开(公告)号：US20240004400A1

公开(公告)日：2024-01-04

申请号：US18211531

申请日：2023-09-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yulong Gu ,  Simin Zhang ,  Yun Zhao

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0248 ,  G05D1/0272 ,  G05D2201/0217

Abstract: A storage medium, a robot, and a method for generating navigation map are provided. By disposing a first lidar and a second lidar located higher than the first lidar, it constructs a first map corresponding to the first lidar based on first laser data collected by the first lidar, and calculate second positioning data corresponding to the second lidar during constructing the first map, constructs a second map corresponding to the second lidar based on the second positioning data and second laser data collected by the second lidar, and obtains a navigation map corresponding to the robot by fusing the first map with the second map, such that the fused map includes not only positioning information provided by the first map, but also obstacle information provided by the first map and the second map.

公开(公告)号：US11710277B2

公开(公告)日：2023-07-25

申请号：US17482450

申请日：2021-09-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Mingqiang Huang ,  Zhichao Liu ,  Youfang Lai ,  Yun Zhao

IPC: G06T19/00 ,  G06T19/20 ,  G06T15/50 ,  G06F16/29 ,  G06T7/73

CPC classification number: G06T19/003 ,  G06F16/29 ,  G06T7/73 ,  G06T15/50 ,  G06T19/20 ,  G06T2207/30244 ,  G06T2219/2004

Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.

公开(公告)号：US11161246B2

公开(公告)日：2021-11-02

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongjian Liu ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.

公开(公告)号：US20240286282A1

公开(公告)日：2024-08-29

申请号：US18395309

申请日：2023-12-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YULONG GU ,  Youjun Xiong ,  Simin Zhang ,  Yun Zhao

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1661 ,  B25J9/161 ,  B25J9/1653 ,  B25J19/022

Abstract: A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.