Abstract: A navigation method for a disinfection robot includes: obtaining an initial map within a field of view of the robot; generating a disinfection grid having multiple disinfection squares on the initial map, and determining multiple disinfecting consideration points in the disinfection squares; determining a disinfection order of disinfecting targets corresponding to the disinfection squares according to distances between the robot after the robot completes disinfection of one of the targets corresponding to one of the disinfection squares and to-be-disinfected ones of the disinfection squares; according to distances between the position and the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, combined with priority levels of the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, determining disinfecting planning points in the disinfection squares; and performing disinfection to the targets corresponding to the disinfection squares acc

Abstract: A visual positioning method and a mobile machine using the same are provided. The method includes: extracting a plurality of corner feature points corresponding to a current image; determining whether a distance between each pair of the plurality of corner feature points is less than a first preset threshold; if yes, determining whether a grayscale value of each of the plurality of corner feature points with the distance less than the first preset threshold is within a second preset threshold range; if yes, obtaining cluster set(s) of the corner feature points; screening a plurality of valid feature points from the cluster set(s); determining a positioning reliability based on a ratio of amount of the valid feature points to an amount of the plurality of corner feature points; and if the positioning reliability is within a preset range, performing a visual positioning based on the positioning reliability.

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.

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 image 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.

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.

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.

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.

Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.

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.

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.

Abstract: The present disclosure provides wireless positioning methods and a system using the same. One of the method includes: broadcasting a ranging request frame to at least two of the positioning anchors and recording a first timestamp of broadcasting the ranging request frame, if a positioning request is detected; receiving a ranging reply frame corresponding to the ranging request frame from each of the at least two positioning anchors and recording a second timestamp of receiving the ranging reply frame; calculating a distance between the positioning anchor and the positioning tag transmitting the ranging request frame based on the first timestamp, the second timestamp, and the time difference; and determining position information of the positioning tag based on the anchor information and the distance. In the above-mentioned manner, the tag can determine the position information of the tag by broadcasting once.

Abstract: The present disclosure provides a visual assisted distance-based SLAM method for a mobile robot, and a mobile robot using the same. The method includes: obtaining distance data frames and visual data frames, each of the visual data frames corresponds to one of the distance data frames, performing a loop closure detection based on a current visual data frame in the visual data frames to find a matched visual data frame; calculating a relative pose between the current visual data frame and the matched visual data frame; and performing a loop closure optimization on pose data of one or more frames between the current visual data frame and the matched visual data frame based on the relative pose. In the above-mentioned manner, the present disclosure can improve the accuracy of mapping and/or realizing fast relocalization.