公开(公告)号：US11034028B2

公开(公告)日：2021-06-15

申请号：US16561033

申请日：2019-09-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xu Hu ,  Peng Nie ,  Wei Fang ,  Jiawen Hu ,  Youjun Xiong

IPC: B25J13/08 ,  G05D1/02 ,  G05B19/18

Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.

公开(公告)号：US20200042005A1

公开(公告)日：2020-02-06

申请号：US16236524

申请日：2018-12-30

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Peng Nie ,  Xu Hu ,  Musen Zhang

IPC: G05D1/02 ,  G01S17/93

Abstract: The present disclosure provides an obstacle avoidance method and system for a robot having ranging sensors as well as a robot using the same. The method includes: obtaining detection data collected by the plurality of ranging sensors; obtaining a current position of the robot based on the collected detection data; determining whether historical detection data corresponding to the current position has been stored: planning a movement path of the robot based on the collected detection data and the historical detection data and generating movement path information of the movement path, if the historical detection data corresponding to the current position has been stored; and controlling the robot to move along an obstacle-free path based on the movement path information. The present disclosure can effectively break through the limitation of the sensor technology, reduce the detection blind zone, and effectively improve the obstacle avoidance efficiency of a robot.

公开(公告)号：US11590655B2

公开(公告)日：2023-02-28

申请号：US16611475

申请日：2018-12-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Xu Hu ,  Peng Nie

IPC: B25J9/16 ,  B25J13/08 ,  G01B21/04 ,  G01B9/02055 ,  G01B11/00

Abstract: The present disclosure provides an external parameter calibration method for robot sensors as well as an apparatus, robot and storage medium with the same. The method includes: obtaining first sensor data and second sensor data obtained through a first sensor and a second sensor of the robot by collecting position information of a calibration reference object and converting to a same coordinate system to obtain corresponding first converted sensor data and second converted sensor data, thereby determining a first coordinate and a second coordinate of a reference point of the calibration reference object; using the first coordinate and the second coordinate are as a set of coordinate data; repeating the above-mentioned steps to obtain N sets of the coordinate data to calculate the external parameter between the first sensor and the second sensor in response to a relative positional relationship between the robot and the calibration reference object being changed.

公开(公告)号：US10996678B2

公开(公告)日：2021-05-04

申请号：US16236524

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Peng Nie ,  Xu Hu ,  Musen Zhang

IPC: G05D1/02 ,  G05D1/00 ,  G01S17/931

Abstract: The present disclosure provides an obstacle avoidance method and system for a robot having ranging sensors as well as a robot using the same. The method includes: obtaining detection data collected by the plurality of ranging sensors; obtaining a current position of the robot based on the collected detection data; determining whether historical detection data corresponding to the current position has been stored; planning a movement path of the robot based on the collected detection data and the historical detection data and generating movement path information of the movement path, if the historical detection data corresponding to the current position has been stored; and controlling the robot to move along an obstacle-free path based on the movement path information. The present disclosure can effectively break through the limitation of the sensor technology, reduce the detection blind zone, and effectively improve the obstacle avoidance efficiency of a robot.

公开(公告)号：US20210354299A1

公开(公告)日：2021-11-18

申请号：US16611475

申请日：2018-12-26

Applicant: UBTECH ROBOTICS CORP

Inventor： Youjun Xiong ,  Xu Hu ,  Peng Nie

IPC: B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides an external parameter calibration method for robot sensors as well as an apparatus, robot and storage medium with the same. The method includes: obtaining first sensor data and second sensor data obtained through a first sensor and a second sensor of the robot by collecting position information of a calibration reference object and converting to a same coordinate system to obtain corresponding first converted sensor data and second converted sensor data, thereby determining a first coordinate and a second coordinate of a reference point of the calibration reference object; using the first coordinate and the second coordinate are as a set of coordinate data; repeating the above-mentioned steps to obtain N sets of the coordinate data to calculate the external parameter between the first sensor and the second sensor in response to a relative positional relationship between the robot and the calibration reference object being changed.

公开(公告)号：US11048262B2

公开(公告)日：2021-06-29

申请号：US16435580

申请日：2019-06-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Peng Nie ,  Youjun Xiong ,  Xu Hu ,  Xiangbin Huang

IPC: G05D1/02 ,  G08G1/00

Abstract: The present disclosure provides a movement control method for a robot as well as an apparatus and a robot using the same. The method includes: obtaining a starting position and an ending position of the robot, in response to a movement instruction being detected; determining a movement path of the robot based on the starting position and the ending position; obtaining pass qualification information of the robot, if the movement path intersects a line corresponding to a preset virtual wall; and moving the robot to the ending position according to the movement path, if the pass qualification information identifying the robot is allowed to traverse the virtual wall. By obtaining the pass qualification information, the robot can return to the working area from the non-working area in the case of an abnormality, while ensuring that the robot does not actively traverse from the working area to the non-working area.