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1.发明申请公开(公告)号：US20220180609A1
公开(公告)日：2022-06-09
申请号：US17482450
申请日：2021-09-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Mingqiang Huang , Zhichao Liu , Youfang Lai , Yun Zhao
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：US20230288526A1
公开(公告)日：2023-09-14
申请号：US18088755
申请日：2022-12-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YU TANG , Mingqiang Huang , Dunhao Liu , Tiecheng Sun , Jichao Jiao
IPC: G01S5/02
CPC classification number: G01S5/02525 , G01S5/0244
Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.
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3.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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Patent Agency Ranking
公开(公告)号：US12253615B2
公开(公告)日：2025-03-18
申请号：US18088755
申请日：2022-12-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yu Tang , Mingqiang Huang , Dunhao Liu , Tiecheng Sun , Jichao Jiao
IPC: G01S5/02
Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.
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5.发明授权公开(公告)号：US11878426B2
公开(公告)日：2024-01-23
申请号：US17314039
申请日：2021-05-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Ligang Ge , Hongge Wang , Mingqiang Huang , Jiangchen Zhou , Yizhang Liu , Zheng Xie , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/162 , B25J9/1653
Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.
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公开(公告)号：US11992961B2
公开(公告)日：2024-05-28
申请号：US17483837
申请日：2021-09-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youfang Lai , Zhichao Liu , Mingqiang Huang
CPC classification number: B25J9/1697 , B25J9/1653 , B25J13/089
Abstract: A pose determination method and a robot using the same are provided. The method includes: obtaining a two-dimensional code image collected by the camera of the robot and sensor data collected by the sensor of the robot, and determining mileage information of the robot within a predetermined duration, where the sensor data includes an acceleration and an angular velocity, determining a first pose of the camera based on two-dimensional code information recognized from the two-dimensional code image and a pose estimation function, and determining a second pose of the sensor based on the sensor data; obtaining a third pose by performing a tight coupling optimization based on the first pose and the second pose; and obtaining the pose of the robot by fusing the third pose and the mileage information. In such a manner, the accuracy of determining the pose of the robot in a complex scene can be improved.
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公开(公告)号：US20220152835A1
公开(公告)日：2022-05-19
申请号：US17483837
申请日：2021-09-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youfang Lai , Zhichao Liu , Mingqiang Huang
Abstract: A pose determination method and a robot using the same are provided. The method includes: obtaining a two-dimensional code image collected by the camera of the robot and sensor data collected by the sensor of the robot, and determining mileage information of the robot within a predetermined duration, where the sensor data includes an acceleration and an angular velocity, determining a first pose of the camera based on two-dimensional code information recognized from the two-dimensional code image and a pose estimation function, and determining a second pose of the sensor based on the sensor data; obtaining a third pose by performing a tight coupling optimization based on the first pose and the second pose; and obtaining the pose of the robot by fusing the third pose and the mileage information. In such a manner, the accuracy of determining the pose of the robot in a complex scene can be improved.
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8.发明申请公开(公告)号：US20220152827A1
公开(公告)日：2022-05-19
申请号：US17314039
申请日：2021-05-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Ligang Ge , Hongge Wang , Mingqiang Huang , Jiangchen Zhou , Yizhang Liu , Zheng Xie , Youjun Xiong
IPC: B25J9/16
Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.
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