公开(公告)号：US20230288526A1

公开(公告)日：2023-09-14

申请号：US18088755

申请日：2022-12-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YU TANG ,  Mingqiang Huang ,  Dunhao Liu ,  Tiecheng Sun ,  Jichao Jiao

IPC: G01S5/02

CPC classification number: G01S5/02525 ,  G01S5/0244

Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.

公开(公告)号：US12253615B2

公开(公告)日：2025-03-18

申请号：US18088755

申请日：2022-12-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yu Tang ,  Mingqiang Huang ,  Dunhao Liu ,  Tiecheng Sun ,  Jichao Jiao

IPC: G01S5/02

Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.

公开(公告)号：US20230266763A1

公开(公告)日：2023-08-24

申请号：US18079807

申请日：2022-12-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dunhao Liu ,  Youjun Xiong ,  Huan Tan

IPC: G05D1/02 ,  G01C21/20

CPC classification number: G05D1/0214 ,  G01C21/20

Abstract: A method for navigating a robot through a limited space includes: obtaining a planned first path for the robot to reach a target position; calculating curvature and/or normal vectors of points in the first path; according to the curvature and a preset curvature threshold, and/or according to the normal vectors and a preset normal vector change threshold, obtaining a first straight path for the robot outside the limited space by curve fitting; determining an intersection of a centerline of the limited space and the first straight path, and determining a second straight path for the robot to move through the limited space according to the centerline and the intersection; and generating a second path for the robot to move through the limited space based on the first straight path and the second straight path, and navigating the robot to move through the limited space according to the second path.