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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：US20210200223A1
公开(公告)日：2021-07-01
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：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：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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