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公开(公告)号：US20220327739A1
公开(公告)日：2022-10-13
申请号：US17721313
申请日：2022-04-14
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Wenzhi Xu , Gaobo Huang
Abstract: A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.
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公开(公告)号：US11372414B2
公开(公告)日：2022-06-28
申请号：US16817565
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Musen Zhang , Wenzhi Xu , Youjun Xiong
IPC: G05D1/02
Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.
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公开(公告)号：US11126198B2
公开(公告)日：2021-09-21
申请号：US16236517
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Xiangbin Huang
Abstract: A robot movement control method and apparatus as well as a robot using the same are provided. The method includes: calculating a distance between a robot and a Ultrawide Band (UWB) base station; configuring an internal coordinate system according to a preset position of the UWB base station, and calculating a coordinate of the robot in the internal coordinate system according to a distance between the UWB base station and the robot; combining the coordinate of the robot in the internal coordinate system with localization information of an odometer provided on the robot to obtain a combined robot coordinate; and controlling the robot to move in accordance with a preset target position according to the combined robot coordinate. In such manner, UWB base station localization can be used to control the movement of a robot in a limited scene.
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公开(公告)号：US20210107147A1
公开(公告)日：2021-04-15
申请号：US16726196
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wenzhi Xu , Xiangbin Huang , Wenxue Xie , Youjun Xiong
IPC: B25J9/16
Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.
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公开(公告)号：US20190324470A1
公开(公告)日：2019-10-24
申请号：US16116946
申请日：2018-08-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Xiangbin Huang
Abstract: The present disclosure relates to robot technology, and particularly to a method, a device, and a robot for identifying charging station. The method includes: first, obtaining scanning data produced by a radar of the robot; then, determining whether an arc-shaped object exists in a scanning range of the radar of the robot based on the scanning data; finally, in response to determining that the arc-shaped object exists in the scanning range of the robot, determining that the arc-shaped object is a charging station. Compared with the prior art, the present disclosure substitutes the arc identification for the conventional concave-convex structure identification. Since the surface of the arc is relatively smooth, the data jumps at the intersection of the cross-section will not occur, hence the accuracy of charging station identification can be greatly improved.
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Patent Agency Ranking
公开(公告)号：US12046008B2
公开(公告)日：2024-07-23
申请号：US17721313
申请日：2022-04-14
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Wenzhi Xu , Gaobo Huang
CPC classification number: G06T7/80 , B25J19/023 , G06T2207/10028
Abstract: A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.
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公开(公告)号：US11422567B2
公开(公告)日：2022-08-23
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
IPC: G05D1/02 , G01S13/88 , B25J11/00 , B25J9/16 , B25J19/00 , G01S13/42 , G01S7/48 , G01S17/42 , H02J7/00 , G01S17/88 , B25J19/02 , G01S7/41 , G01S13/931
Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.
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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
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.
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公开(公告)号：US20200206921A1
公开(公告)日：2020-07-02
申请号：US16236517
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Gaobo Huang , Xiangbin Huang
IPC: B25J9/16
Abstract: A robot movement control method and apparatus as well as a robot using the same are provided. The method includes: calculating a distance between a robot and each UWB base station; configuring an internal coordinate system according to a preset position of the UWB base station, and calculating a coordinate of the robot in the internal coordinate system according to a distance between the UWB base station and the robot; combining the coordinate of the robot in the internal coordinate system with localization information of an odometer provided on the robot to obtain a combined robot coordinate; and controlling the robot to move in accordance with a preset target position according to the combined robot coordinate. In such manner, UWB base station localization can be used to control the movement of a robot in a limited scene.
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公开(公告)号：US20200001462A1
公开(公告)日：2020-01-02
申请号：US16236526
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun XIONG , Xiangbin Huang , Musen Zhang , Peng Nie , Hailang Zhou
IPC: B25J9/16
Abstract: The present disclosure provides a robot distance measuring method and apparatus as well as a robot using the same. The method includes: obtaining a plurality of relative position parameters of a robot from a plurality of ranging sensors; determining an installation distance between each two of the ranging sensors based on the plurality of relative position parameters; determining a sum of the installation distance of each looping arrangement of the plurality of ranging sensors based on the installation distance between each two of the ranging sensors; and enabling the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule. Since the adjacent ranging sensors are avoided to range simultaneously or sequentially, the interference of the adjacent ranging sensors can be minimized, the accuracy of measuring the distance of the surrounding obstacles can be improved, thereby improving the navigation performance of the robot.
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