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公开(公告)号：US10667091B1
公开(公告)日：2020-05-26
申请号：US16396691
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong , Yu Tang
Abstract: The present disclosure provides a wireless positioning method as well as a server and a storage medium with the same. The method includes: obtaining a current ranging value between a first positioning device and a second positioning device, where there is no obstruction between the first positioning device and the second positioning device; determining a distance of the first positioning device and the second positioning device in a depth direction of a tunnel based on the current ranging value; and obtaining a current coordinate of the second positioning device based on the distance. In the above-mentioned manner, the automatic updating of the coordinate of the reference base station in the tunnel can be realized, the times of repeated measurements of the base station are reduced, thereby improving the construction efficiency of the tunnel and saving working loads.
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公开(公告)号：US20200096343A1
公开(公告)日：2020-03-26
申请号：US16396690
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong
Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.
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公开(公告)号：US11204249B2
公开(公告)日：2021-12-21
申请号：US16396690
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong
Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.
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Patent Agency Ranking
公开(公告)号：US20210182633A1
公开(公告)日：2021-06-17
申请号：US17012016
申请日：2020-09-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Zhichao Liu , Yongsheng Zhao , Yu Tang , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.
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公开(公告)号：US20200209365A1
公开(公告)日：2020-07-02
申请号：US16396693
申请日：2019-04-28
Applicant: Ubtech Robotics Corp Ltd
Inventor： Yongsheng Zhao , Youjun Xiong , Zhichao Liu , Jianxin Pang
Abstract: The present disclosure provides a laser data calibration method and robot using the same. The method includes: obtaining a pose of a movable device; determining a pose of the lidar based on the pose of the movable device and a transformation relationship between the movable device and the lidar: determining an instantaneous speed of the lidar based on the pose of the lidar at two adjacent time points; determining a delay time of an collection time of one frame of raw laser data obtained through the lidar by scanning for one round with respect to an collection time of a first raw laser data: and obtaining a calibration data of the raw laser data based on the instantaneous speed, tire delay time, and the raw laser data. Through the above-mentioned method, the calibration of the raw laser data can be realized.
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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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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：US20210060802A1
公开(公告)日：2021-03-04
申请号：US16709931
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.
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