公开(公告)号：US11579624B2

公开(公告)日：2023-02-14

申请号：US16935234

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Chenchen Jiang ,  Kun Xie ,  Zhichao Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/00 ,  G05D1/02 ,  G06T7/579

Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).

公开(公告)号：US20220152835A1

公开(公告)日：2022-05-19

申请号：US17483837

申请日：2021-09-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youfang Lai ,  Zhichao Liu ,  Mingqiang Huang

IPC: B25J9/16 ,  B25J13/08

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.

公开(公告)号：US11287828B2

公开(公告)日：2022-03-29

申请号：US16427362

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Hongjian Liu ,  Zhanjia Bi ,  Jianxin Pang

IPC: G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/20

Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle image of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.

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

IPC: G06K9/62 ,  G06K9/00 ,  G01S19/47

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.

公开(公告)号：US20210154835A1

公开(公告)日：2021-05-27

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGJIAN LIU ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.

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

IPC: G01S7/497 ,  G01S7/48 ,  G01S17/10 ,  G05D1/02

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.