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公开(公告)号：US20230205212A1
公开(公告)日：2023-06-29
申请号：US18171630
申请日：2023-02-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wanjun He , Zhichao Liu , Youjun Xiong
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D1/0274
Abstract: A mapping method for a mobile robot includes: obtaining positions of particles corresponding to the mobile robot using a particle filtering approach; selecting one of the particles with a largest weight in a particle swarm corresponding to a current time point, performing position matching between the one of the particles and a historical trajectory formed by the one of the particles with the largest weight, and determining whether the positions of the particles corresponding to the mobile robot match positions of historical trajectory points of the mobile robot; in response to the positions of the particles corresponding to the mobile robot matching the positions of the historical trajectory points of the mobile robot, optimizing a trajectory of the mobile robot using a graph optimization approach; and building a map based on the optimized trajectory.
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公开(公告)号：US11629964B2
公开(公告)日：2023-04-18
申请号：US16843923
申请日：2020-04-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.
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23.发明申请公开(公告)号：US20220180609A1
公开(公告)日：2022-06-09
申请号：US17482450
申请日：2021-09-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Mingqiang Huang , Zhichao Liu , Youfang Lai , Yun Zhao
Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.
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公开(公告)号：US11267130B2
公开(公告)日：2022-03-08
申请号：US16727948
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongjian Liu , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.
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公开(公告)号：US20220036065A1
公开(公告)日：2022-02-03
申请号：US16953378
申请日：2020-11-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Chenchen Jiang , Youjun Xiong
Abstract: The present disclosure provides a loop closure detection method, a mobile device, and a computer readable storage medium. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.
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Patent Agency Ranking
公开(公告)号：US20210183116A1
公开(公告)日：2021-06-17
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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公开(公告)号：US20210129341A1
公开(公告)日：2021-05-06
申请号：US16727948
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
IPC: B25J9/16
Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.
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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：US11992961B2
公开(公告)日：2024-05-28
申请号：US17483837
申请日：2021-09-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youfang Lai , Zhichao Liu , Mingqiang Huang
CPC classification number: B25J9/1697 , B25J9/1653 , B25J13/089
Abstract: A pose determination method and a robot using the same are provided. The method includes: obtaining a two-dimensional code image collected by the camera of the robot and sensor data collected by the sensor of the robot, and determining mileage information of the robot within a predetermined duration, where the sensor data includes an acceleration and an angular velocity, determining a first pose of the camera based on two-dimensional code information recognized from the two-dimensional code image and a pose estimation function, and determining a second pose of the sensor based on the sensor data; obtaining a third pose by performing a tight coupling optimization based on the first pose and the second pose; and obtaining the pose of the robot by fusing the third pose and the mileage information. In such a manner, the accuracy of determining the pose of the robot in a complex scene can be improved.
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公开(公告)号：US20230273620A1
公开(公告)日：2023-08-31
申请号：US18143596
申请日：2023-05-04
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Simin Zhang , Zhichao Liu
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0214 , G05D1/024
Abstract: A mapping method, a computer-readable storage medium, and a robot are provided. The method is applied to a robot including a first lidar and a second lidar, where the first lidar is installed at a position higher than that of the second lidar. The method includes: obtaining a first laser key frame; calculating a current pose of a robot based on the first laser key frame; updating a first probability map based on the current pose and the first laser key frame; obtaining a second laser key frame; updating a second probability map based on the current pose and the second laser key frame; and generating a fused grid map for navigating the robot based on the updated first probability map and the updated second probability map, thereby greatly improving the stability of positioning and navigation.
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