公开(公告)号：US10778959B2

公开(公告)日：2020-09-15

申请号：US16205282

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N13/00 ,  H04N13/128 ,  H04N13/211 ,  H04N13/296 ,  H04N13/221

Abstract: The present disclosure provides a robot-based 3D picture shooting method and system, and a robot using the same. The method includes: obtaining a distance between a photographed object and the photographing device of the robot based on a received shooting instruction; calculating an inter-axis distance based on the distance; obtaining the first picture after moving the robot for half of the inter-axis distance along the movement direction; obtaining the second picture after moving the robot for entire of the inter-axis distance from a current position along an opposite direction of the movement direction; and synthesizing the first picture and the second picture to obtain a 3D picture of the photographed object. In the process, the robot moves the photographing device according to the calculated inter-axis distance, and obtains two pictures of the left and right of the photographed object, which is not necessary to use a binocular camera.

公开(公告)号：US20190199899A1

公开(公告)日：2019-06-27

申请号：US16195871

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N5/232 ,  B25J9/16 ,  B25J19/02

CPC classification number: H04N5/2329 ,  B25J9/1664 ,  B25J9/1697 ,  B25J19/023 ,  H04N5/23258 ,  H04N5/23267

Abstract: The present disclosure provides a shutter speed adjusting method and apparatus or a robot with a photographing device, and a robot using the same. The method includes: obtaining a motion speed of the robot: obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device; obtaining a distance between the robot and a photographed object; and adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance. Through the present disclosure, the problem of blurred picture caused by the movement of the robot itself can be avoided, thereby improving the photographing quality.

公开(公告)号：US11115594B2

公开(公告)日：2021-09-07

申请号：US16195871

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N5/232 ,  B25J9/16 ,  B25J19/02 ,  H04N5/235

Abstract: The present disclosure provides a shutter speed adjusting method and apparatus or a robot with a photographing device, and a robot using the same. The method includes: obtaining a motion speed of the robot: obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device; obtaining a distance between the robot and a photographed object; and adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance. Through the present disclosure, the problem of blurred picture caused by the movement of the robot itself can be avoided, thereby improving the photographing quality.

公开(公告)号：US20190208180A1

公开(公告)日：2019-07-04

申请号：US16205282

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N13/221 ,  H04N13/128

Abstract: The present disclosure provides a robot-based 3D picture shooting method and system and a robot using the same. The method includes: obtaining a distance between a photographed object and the photographing device of the robot based on a received shooting instruction; calculating an inter-axis distance based on the distance; obtaining the first picture after moving the robot for half of the inter-axis distance along the movement direction; obtaining the second picture after moving the robot for entire of the inter-axis distance from a current position along an opposite direction of the movement direction; and synthesizing the first picture and the second picture to obtain a 3D picture of the photographed object. In the process, the robot moves the photographing device according to the calculated inter-axis distance, and obtains two pictures of the left and right of the photographed object, which is not necessary to use a binocular camera.

公开(公告)号：US20190202428A1

公开(公告)日：2019-07-04

申请号：US16231970

申请日：2018-12-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu ,  Yanhui Zhang ,  Xianli Jiang

IPC: B60W10/16 ,  G05D1/02 ,  G01C3/20

CPC classification number: B60W10/16 ,  G01C3/20 ,  G05D1/0223 ,  G05D1/0236 ,  G05D2201/02

Abstract: A method for controlling a wheeled robot to move along a circular trajectory includes: determining a first distance between a laser emitter and a center of a circular trajectory on a surface where the robot moves and a second, perpendicular distance from the laser emitter to the surface, calculating a radius of the circular trajectory based on the first distance and the second distance, calculating, based on the radius, a distance between a first wheel and a second wheel, a ratio of a first linear velocity of the first wheel to a second linear velocity of the second wheel, and determining a first rotational speed and a second rotational speed based on the ratio, and controlling the first servo to operate at the first rotational speed and the second servo to operate at the second rotational speed so as to drive the robot to move along the circular trajectory.