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公开(公告)号：US20210055739A1
公开(公告)日：2021-02-25
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.
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公开(公告)号：US20230210334A1
公开(公告)日：2023-07-06
申请号：US18080702
申请日：2022-12-13
Applicant: UBTECH ROBOTICS CORP LTD , Best Epoch Technology Co., LTD
Inventor： Gaobo Huang , Hua Zhang , Xiangbin Huang
CPC classification number: A47L11/4011 , G05D1/0225 , G05D1/0242 , A47L2201/04 , A47L2201/022 , G05D2201/0203
Abstract: A recharge control method includes: providing a robot comprising a body and four infrared carrier receivers, wherein a second and a third of the four infrared carrier receivers are mounted on a front of the body, and a first and a fourth of four infrared carrier receivers are mounted on left side and on a right side of the body; receiving, by one or more of the four infrared carrier receivers, infrared carrier emitted by a charging dock; determining an area where the robot is located, wherein the area is one of at least five areas around the charging dock that are determined based on receiving of the infrared carrier by different combinations of the four infrared carriers and based on not receiving of the infrared carrier by the infrared carriers; and controlling the robot to move to the charging dock according to a movement mode corresponding to the area.
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3.发明申请公开(公告)号：US20250113963A1
公开(公告)日：2025-04-10
申请号：US18888209
申请日：2024-09-18
Applicant: Best Epoch Technology Co., LTD , UBTECH ROBOTICS CORP LTD
Inventor： MENG LI , Xiangbin Huang
Abstract: A method for area dividing in a map for a mobile robot includes: obtaining a target binary map of a target area; obtaining a first area map and a second area map according to the target binary map; obtaining a target area-dividing map of the target area according to the first area map and the second area map; and controlling the mobile robot according to the target area-dividing map.
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公开(公告)号：US20250072691A1
公开(公告)日：2025-03-06
申请号：US18911202
申请日：2024-10-09
Applicant: Best Epoch Technology Co., LTD , UBTECH ROBOTICS CORP LTD
Inventor： MENG LI , Xiangbin Huang , Liuchen Yang , Gaobo Huang
Abstract: A method for docking a cleaning robot includes: obtaining a map of a scene where the cleaning robot is located, and a position of the cleaning robot in the map; determining a map contour where the position of the cleaning robot is located according to the map; determining a plurality of traversal points for searching for a charging station and a plurality of traversal areas corresponding to the plurality of traversal points according to the map contour; and searching for the charging station in the traversal areas corresponding to the traversal points according to a predetermined search order, until the charging station is found in the traversal areas, or the traversal areas corresponding to all of the traversal points have been searched.
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公开(公告)号：US11260528B2
公开(公告)日：2022-03-01
申请号：US16726196
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wenzhi Xu , Xiangbin Huang , Wenxue Xie , Youjun Xiong
Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.
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Patent Agency Ranking
公开(公告)号：US20220327739A1
公开(公告)日：2022-10-13
申请号：US17721313
申请日：2022-04-14
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Wenzhi Xu , Gaobo Huang
Abstract: A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.
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公开(公告)号：US11372414B2
公开(公告)日：2022-06-28
申请号：US16817565
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Musen Zhang , Wenzhi Xu , Youjun Xiong
IPC: G05D1/02
Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.
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公开(公告)号：US20210107147A1
公开(公告)日：2021-04-15
申请号：US16726196
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wenzhi Xu , Xiangbin Huang , Wenxue Xie , Youjun Xiong
IPC: B25J9/16
Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.
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公开(公告)号：US12046008B2
公开(公告)日：2024-07-23
申请号：US17721313
申请日：2022-04-14
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Wenzhi Xu , Gaobo Huang
CPC classification number: G06T7/80 , B25J19/023 , G06T2207/10028
Abstract: A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.
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公开(公告)号：US11422567B2
公开(公告)日：2022-08-23
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
IPC: G05D1/02 , G01S13/88 , B25J11/00 , B25J9/16 , B25J19/00 , G01S13/42 , G01S7/48 , G01S17/42 , H02J7/00 , G01S17/88 , B25J19/02 , G01S7/41 , G01S13/931
Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.
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