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.

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

IPC: G05D1/02 ,  B25J9/16

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.

公开(公告)号：US20200241112A1

公开(公告)日：2020-07-30

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 ,  G06K9/62 ,  G01S17/931

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.

公开(公告)号：US11161246B2

公开(公告)日：2021-11-02

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongjian Liu ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: 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.

公开(公告)号：US11045953B2

公开(公告)日：2021-06-29

申请号：US16427349

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Jian Zhang ,  Yongsheng Zhao ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocalization result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.

公开(公告)号：US11260529B2

公开(公告)日：2022-03-01

申请号：US16584968

申请日：2019-09-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Zhang ,  Youjun Xiong ,  Zhichao Liu ,  Longbiao Bai ,  Chenchen Jiang ,  Simin Zhang ,  Hongjian Liu ,  Zhanjia Bi ,  Yongsheng Zhao ,  Jianxin Pang

IPC: G05B19/23 ,  G05D1/02 ,  B25J9/16

Abstract: 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.

公开(公告)号：US20210154835A1

公开(公告)日：2021-05-27

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGJIAN LIU ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: 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.

公开(公告)号：US11267130B2

公开(公告)日：2022-03-08

申请号：US16727948

申请日：2019-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongjian Liu ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Zhanjia Bi ,  Youjun Xiong

IPC: B25J9/16 ,  G01C21/30

Abstract: 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.

公开(公告)号：US20210129341A1

公开(公告)日：2021-05-06

申请号：US16727948

申请日：2019-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGJIAN LIU ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Zhanjia Bi ,  Youjun Xiong

IPC: B25J9/16

Abstract: 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.

公开(公告)号：US20200206927A1

公开(公告)日：2020-07-02

申请号：US16427349

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Jian Zhang ,  Yongsheng Zhao ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocal i/at ion result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.