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1.发明授权公开(公告)号：US11710277B2
公开(公告)日：2023-07-25
申请号：US17482450
申请日：2021-09-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Mingqiang Huang , Zhichao Liu , Youfang Lai , Yun Zhao
CPC classification number: G06T19/003 , G06F16/29 , G06T7/73 , G06T15/50 , G06T19/20 , G06T2207/30244 , G06T2219/2004
Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.
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公开(公告)号：US11474204B2
公开(公告)日：2022-10-18
申请号：US16699765
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Jian Zhang , Youjun Xiong , Jianxin Pang
IPC: G01S7/48 , G01S17/931 , G06K9/62
Abstract: The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.
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公开(公告)号：US20220147754A1
公开(公告)日：2022-05-12
申请号：US17463523
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Zhanjia Bi , Yongsheng Zhao
IPC: G06K9/62
Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.
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公开(公告)号：US11287825B2
公开(公告)日：2022-03-29
申请号：US16576794
申请日：2019-09-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Youjun Xiong , Jian Zhang
Abstract: The present disclosure provides a path tracking method as well as a mobile robot using the same. The method includes: obtaining a preset path and a current position of the mobile device; determining a forward-looking path point corresponding to the current position on the preset path; obtaining a path curvature corresponding to the forward-looking path point; and determining an adjustment velocity of the mobile device at the current position based on the path curvature corresponding to the forward-looking path point. In this manner, the adjustment velocity of the mobile device can be determined based on the curvature of the path, so as to adjust the velocity of the mobile device and improve the stability of path tracking of the mobile device at different path curvatures.
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公开(公告)号：US20210197388A1
公开(公告)日：2021-07-01
申请号：US16935231
申请日：2020-07-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： RUI GUO , Kun Xie , Chenchen Jiang , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.
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Patent Agency Ranking
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
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.
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公开(公告)号：US20200005487A1
公开(公告)日：2020-01-02
申请号：US16416281
申请日：2019-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Youjun Xiong , Zhichao Liu
Abstract: The present disclosure provides a positioning method and a robot using the same. The method includes: obtaining, through the visual sensor, a current frame image; obtaining, through the ultra-wideband tag, distance of a robot from an ultra-wideband anchor; performing a feature matching on the current frame image and an adjacent frame image to generate partial map point(s); determining whether the current frame image is a key frame image; and optimizing a pose of the visual sensor corresponding to the key frame image through a joint objective function in response to the current frame image being the key frame image, where the joint objective function at least comprises a distance cost function of the ultra-wideband anchor and a visual residual cost function. Through the above-mentioned method, the accuracy of the positioning of the robot can be improved.
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公开(公告)号：US11593974B2
公开(公告)日：2023-02-28
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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公开(公告)号：US11498227B2
公开(公告)日：2022-11-15
申请号：US16709931
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.
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公开(公告)号：US11422261B2
公开(公告)日：2022-08-23
申请号：US16699750
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.
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