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公开(公告)号：US11161246B2
公开(公告)日：2021-11-02
申请号：US16734402
申请日：2020-01-05
发明人： Hongjian Liu , Zhichao Liu , Jian Zhang , Simin Zhang , Yun Zhao , Youjun Xiong , Jianxin Pang
IPC分类号： B25J9/16
摘要： 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.
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公开(公告)号：US20240085913A1
公开(公告)日：2024-03-14
申请号：US18517006
申请日：2023-11-22
发明人： Simin Zhang , Youjun Xiong
CPC分类号： G05D1/0212 , G01C21/3841 , G05D1/0011
摘要： A robot autonomous operation method, a robot, and a computer-readable storage medium are provided. The method includes: moving the robot, under a control of a user, along a guide path in an operation scene; generating a map including the guide path by positioning and mapping during the robot being moved along the guide path in the operation scene; generating a plurality of operation points on the guide path in the map; generating an operation path, wherein the operation path passes through all of the unpassed operation points and has a shortest total distance; and moving the robot, according to the operation path, to each of the unpassed operation points so as to perform an operation. In this manner, it controls the robot to explore the guide path in the operation scene by manual guiding, which can improve the exploration efficiency and reduce the risk of exploring unknown operation scenes.
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公开(公告)号：US20240004400A1
公开(公告)日：2024-01-04
申请号：US18211531
申请日：2023-09-08
发明人： Yulong Gu , Simin Zhang , Yun Zhao
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G05D1/0248 , G05D1/0272 , G05D2201/0217
摘要： A storage medium, a robot, and a method for generating navigation map are provided. By disposing a first lidar and a second lidar located higher than the first lidar, it constructs a first map corresponding to the first lidar based on first laser data collected by the first lidar, and calculate second positioning data corresponding to the second lidar during constructing the first map, constructs a second map corresponding to the second lidar based on the second positioning data and second laser data collected by the second lidar, and obtains a navigation map corresponding to the robot by fusing the first map with the second map, such that the fused map includes not only positioning information provided by the first map, but also obstacle information provided by the first map and the second map.
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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
发明人： Simin Zhang , Zhichao Liu
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G05D1/0214 , G05D1/024
摘要： 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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公开(公告)号：US20210154835A1
公开(公告)日：2021-05-27
申请号：US16734402
申请日：2020-01-05
发明人： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Yun Zhao , Youjun Xiong , Jianxin Pang
IPC分类号： B25J9/16
摘要： 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.
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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
发明人： Hongjian Liu , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
摘要： 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：US20210129341A1
公开(公告)日：2021-05-06
申请号：US16727948
申请日：2019-12-27
发明人： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
IPC分类号： B25J9/16
摘要： 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：US20240286282A1
公开(公告)日：2024-08-29
申请号：US18395309
申请日：2023-12-22
发明人： YULONG GU , Youjun Xiong , Simin Zhang , Yun Zhao
CPC分类号： B25J9/1661 , B25J9/161 , B25J9/1653 , B25J19/022
摘要： A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.
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公开(公告)号：US11285613B2
公开(公告)日：2022-03-29
申请号：US16699132
申请日：2019-11-29
发明人： Chenchen Jiang , Youjun Xiong , Longbiao Bai , Simin Zhang , Jianxin Pang
摘要： The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.
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公开(公告)号：US11260529B2
公开(公告)日：2022-03-01
申请号：US16584968
申请日：2019-09-27
发明人： Jian Zhang , Youjun Xiong , Zhichao Liu , Longbiao Bai , Chenchen Jiang , Simin Zhang , Hongjian Liu , Zhanjia Bi , Yongsheng Zhao , Jianxin Pang
摘要： 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.
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