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.

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.