Ubtech Robotics Corp Ltd

Tencent Technology Company Limited

Yongsheng Zhao

Youjun Xiong

Zhichao Liu

Jianxin Pang

Yu Tang

Jian Zhang

Zhanjia Bi

Chenchen Jiang

Longbiao Bai

Simin Zhang

Rui Guo

Hongjian Liu

Xiao He

Yu Peng

Jichao Jiao

Yelu Liu

Jiahao Ji

Wanjun He

Tianzhe Dong

Zhiming Zhao

Ziguang Gao

A collided position determination method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining, from a collision sensor of the robot, a triggered signal corresponding to a collision of the robot; determining at least two candidate positions of the collision based on the triggered signal corresponding to the collision; obtaining a motion trajectory of the robot after the collision; and obtaining a collided position by screening each of the candidate positions of the collision according to the motion trajectory. In this manner, when the robot collides during its movement, the collision signal generated by the collision sensor of the robot can accurately mark the collided position, thereby reducing the probability of the robot colliding again at the same position.

Collided position determination method, computer-readable storage medium, and robot

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.

Relocation method, mobile machine using the same, and computer readable storage medium

The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.

Navigation map updating method and apparatus and robot using the same

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.

Robot pose determination method and apparatus and robot using the same

The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.

Localization method and helmet and computer readable storage medium using the same

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.

Virtual rail based cruise method and apparatus and robot using the same

The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.

Positioning method and robot with the same

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.

Relocalization method and robot using the same

The present disclosure provides a robot charging control method, apparatus, and robot thereof. The method includes: obtaining a linear distance between a charging portion of the robot and a charging station of a charging device, if a charging instruction is detected; determining polar coordinate information of a preset target position in a polar coordinate system taking the position of the charging portion as a pole based on the linear distance; moving the robot to the preset target position according to the polar coordinate information; rotating the robot in situ at the preset target position to a position the charging portion matching the charging station; and moving the robot from the preset target position to the charging station to establish an electrical connection for charging the robot between the charging portion and the charging station. The present disclosure realizes that a navigation route is unnecessary to be made in advance.

Robot charging control method, apparatus, and robot thereof

The present disclosure provides localization methods and a system using the same. One of the methods includes: broadcasting a ranging frame in a awake state of a localization tag; obtaining a response frame returned by the first anchor according to the ranging frame; updating the ranging anchor list according to the response frame; and calculating a distance between the localization tag and the first anchor based on a time of broadcasting the ranging frame, a time of receiving the response frame, the time of the first anchor receiving the ranging frame, and the time of the first anchor transmitting the response frame. In such a manner, the localization tag is enabled to switch the anchor for ranging in time according to the updated ranging anchor list during movement, thereby automatically ranging with the nearby anchor.

Localization methods and system using the same

The present disclosure provides a wireless positioning method as well as a server and a storage medium with the same. The method includes: obtaining a current ranging value between a first positioning device and a second positioning device, where there is no obstruction between the first positioning device and the second positioning device; determining a distance of the first positioning device and the second positioning device in a depth direction of a tunnel based on the current ranging value; and obtaining a current coordinate of the second positioning device based on the distance. In the above-mentioned manner, the automatic updating of the coordinate of the reference base station in the tunnel can be realized, the times of repeated measurements of the base station are reduced, thereby improving the construction efficiency of the tunnel and saving working loads.

Wireless positioning method and server and storage medium with the same

The present disclosure provides a range finding base station selection method and apparatus. The embodiments of the present disclosure are capable of eliminating the inappropriate base stations, so that the range finding from the base station to the tag can be accurate, thereby improving the accuracy of tag positioning.

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Shenzhen, China

Yongsheng Zhao