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公开(公告)号：US11287828B2
公开(公告)日：2022-03-29
申请号：US16427362
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Hongjian Liu , Zhanjia Bi , Jianxin Pang
Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle image of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.
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公开(公告)号：US11260529B2
公开(公告)日：2022-03-01
申请号：US16584968
申请日：2019-09-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jian Zhang , Youjun Xiong , Zhichao Liu , Longbiao Bai , Chenchen Jiang , Simin Zhang , Hongjian Liu , Zhanjia Bi , Yongsheng Zhao , Jianxin Pang
Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.
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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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Patent Agency Ranking
公开(公告)号：US11267130B2
公开(公告)日：2022-03-08
申请号：US16727948
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongjian Liu , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.
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公开(公告)号：US20210129341A1
公开(公告)日：2021-05-06
申请号：US16727948
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
IPC: B25J9/16
Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.
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6.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：US20200209880A1
公开(公告)日：2020-07-02
申请号：US16427362
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Hongjian Liu , Zhanjia Bi , Jianxin Pang
Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle in of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.
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