公开(公告)号：US11161246B2

公开(公告)日：2021-11-02

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：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：US20200209880A1

公开(公告)日：2020-07-02

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: G05D1/02 ,  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 in 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：US11260529B2

公开(公告)日：2022-03-01

申请号：US16584968

申请日：2019-09-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Zhang ,  Youjun Xiong ,  Zhichao Liu ,  Longbiao Bai ,  Chenchen Jiang ,  Simin Zhang ,  Hongjian Liu ,  Zhanjia Bi ,  Yongsheng Zhao ,  Jianxin Pang

IPC: G05B19/23 ,  G05D1/02 ,  B25J9/16

Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

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

IPC: B25J9/16 ,  G01C21/30

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.