公开(公告)号：US20210008730A1

公开(公告)日：2021-01-14

申请号：US16561033

申请日：2019-09-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XU HU ,  Peng Nie ,  Wei Fang ,  Jiawen Hu ,  Youjun Xiong

IPC: B25J13/08 ,  G05D1/02 ,  G05B19/18

Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.

公开(公告)号：US11441726B2

公开(公告)日：2022-09-13

申请号：US16435575

申请日：2019-06-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kunlei Zhao ,  Youjun Xiong ,  Wenhua Yu ,  Jiawen Hu ,  Yangyu Pi

IPC: F16M11/16 ,  F16M11/04 ,  F16M11/22 ,  G06N3/00

Abstract: A connection assembly for holding a support member in position includes: a base defining a receiving hole to receive an end portion of the support member, and a guiding hole in a lateral surface thereof, which communicates with the receiving hole; a fixing block; a locking member slidably received in the guiding hole and slidable between a first position where the locking member is engaged with the support member so as to hold the support member in position, and a second position where the locking member is disengaged from the support member; and an actuating member connected to the fixing block and the locking member, the actuating member being configured to drive the locking member to move between the first position and the second position.

公开(公告)号：US11034028B2

公开(公告)日：2021-06-15

申请号：US16561033

申请日：2019-09-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xu Hu ,  Peng Nie ,  Wei Fang ,  Jiawen Hu ,  Youjun Xiong

IPC: B25J13/08 ,  G05D1/02 ,  G05B19/18

Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.