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公开(公告)号：US11045953B2
公开(公告)日：2021-06-29
申请号：US16427349
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Jian Zhang , Yongsheng Zhao , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocalization result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.
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公开(公告)号：US20200206927A1
公开(公告)日：2020-07-02
申请号：US16427349
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Jian Zhang , Yongsheng Zhao , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocal i/at ion result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.
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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：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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Patent Agency Ranking
公开(公告)号：US20200209876A1
公开(公告)日：2020-07-02
申请号：US16396783
申请日：2019-04-29
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： Yongsheng Zhao , Youjun Xiong , Longbiao Bai , Jianxin Pang
Abstract: The present disclosure provides a positioning method and an apparatus with the same. The method includes: obtaining, by die sensor set, current track node information of a current track node of a map on which the to-be-positioned device is located, where the current track node information includes a color of the current track node; and determining position information of the to-be-positioned device based on the track node information. In the above manner, the positioning of the to-be-positioned device in a specific map can be realized.
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公开(公告)号：US20190195631A1
公开(公告)日：2019-06-27
申请号：US16030843
申请日：2018-07-09
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Longbiao Bai , Zhichao Liu , Zhangjia Bi
IPC: G01C21/16 , H04W4/02 , G05D1/02 , G05B19/402
CPC classification number: G01C21/16 , G05B19/402 , G05B2219/31081 , G05D1/021 , H04W4/02
Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.
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公开(公告)号：US11285613B2
公开(公告)日：2022-03-29
申请号：US16699132
申请日：2019-11-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Youjun Xiong , Longbiao Bai , Simin Zhang , Jianxin Pang
Abstract: The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.
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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：US10852139B2
公开(公告)日：2020-12-01
申请号：US16030843
申请日：2018-07-09
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Longbiao Bai , Zhichao Liu , Zhanjia Bi
Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.
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