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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：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：US20200030982A1
公开(公告)日：2020-01-30
申请号：US16370884
申请日：2019-03-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang , Musen Zhang
Abstract: The present disclosure provides a robot recharge docking method. The method includes: obtaining current radar data of a radar of a robot for a scanned obstacle; obtaining a position of a target object by analyzing the current radar data; controlling the robot to move to a predetermined position around the target object; determining whether infrared carrier data is received by the robot recharge docking apparatus from the target object; determining that the target object is a charging station upon receiving the infrared carrier data from the target object; and docking the robot at the target object to charge if the target object is the charging station. In the above-mentioned manner, the present disclosure can prevent the robot from taking an obstacle similar to a charging station in shape as the charging station to dock at, thereby ensuring the safety of the automatic recharging of the robot.
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公开(公告)号：US10528058B2
公开(公告)日：2020-01-07
申请号：US15719594
申请日：2017-09-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang
IPC: G05D1/02
Abstract: The present disclosure relates to a robot, a distance measuring method, and a recharging system for robot. The distance measuring method includes configuring a current position of a robot to be a first position, obtaining a first direction along a connection line from the first position to a signals transmitting position by a sensor of the robot, obtaining a second direction along a connection line from a second position to the signals transmitting position when the robot being driven by a driver to move along a moving direction by a predetermined distance to the second position, and the moving direction being perpendicular to the first direction to the second position, obtaining a distance between the second position and the signals transmitting position according to an included angle formed by the first direction and the second direction, and the predetermined distance.
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Patent Agency Ranking
公开(公告)号：US20190196493A1
公开(公告)日：2019-06-27
申请号：US15920467
申请日：2018-03-14
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
IPC: G05D1/02
Abstract: The present disclosure provides a method, apparatus, and terminal device for cliff detection. The method includes: obtaining a detection distance matrix of distances between a camera of a target robot and a ground within a preset detection angle range collected by the camera; obtaining a difference matrix obtained by subtracting a theoretical distance matrix from the detection distance matrix; counting an amount of elements in the difference matrix being greater than a preset first threshold; and determining a cliff is detected if the counted amount of the elements is greater than a preset second threshold. Through the overall consideration of the distance matrix of the distances within the detection angle range, even if a certain part of the ground changes its external conditions such as the color depth and the lightness, the influences on the overall detection result is extremely limited, which makes the detection result more accurate and reliable.
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公开(公告)号：US20190049983A1
公开(公告)日：2019-02-14
申请号：US15839837
申请日：2017-12-12
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Libing Zhou , Jibang Cui , Gaobo Huang
CPC classification number: G05D1/0225 , B25J19/005 , B60L53/00 , B60L53/14 , G05D1/0242 , G05D1/0255 , H02J7/0042 , Y10S901/01
Abstract: The present disclosure relates to a recharging robot system. The recharging robot system may include a signal emission device including at least one signal emission channel. The at least one signal emission channel each comprises an opening. A distance between two central axes of any two adjacent signal emission channels is gradually increased along a direction facing away the signal emitters. As such, an overlapping area of signal ranges of the at least two signal emitters may be reduced, and the robot may accurately determine which signal range that the robot is within, so as to accurately align with the recharging dock.
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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：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：US11072072B2
公开(公告)日：2021-07-27
申请号：US16370884
申请日：2019-03-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang , Musen Zhang
Abstract: The present disclosure provides a robot recharge docking method. The method includes: obtaining current radar data of a radar of a robot for a scanned obstacle; obtaining a position of a target object by analyzing the current radar data; controlling the robot to move to a predetermined position around the target object; determining whether infrared carrier data is received by the robot recharge docking apparatus from the target object; determining that the target object is a charging station upon receiving the infrared carrier data from the target object; and docking the robot at the target object to charge if the target object is the charging station. In the above-mentioned manner, the present disclosure can prevent the robot from taking an obstacle similar to a charging station in shape as the charging station to dock at, thereby ensuring the safety of the automatic recharging of the robot.
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