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公开(公告)号：US11059170B2
公开(公告)日：2021-07-13
申请号：US16359965
申请日：2019-03-20
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Hailang Zhou , Musen Zhang
Abstract: The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.
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公开(公告)号：US20210055739A1
公开(公告)日：2021-02-25
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.
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公开(公告)号：US10671080B2
公开(公告)日：2020-06-02
申请号：US16205248
申请日：2018-11-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang , Caixia Li
Abstract: The present disclosure provides a data processing method and a robot with the same. The robot includes: an electromagnetic wave receiver configured to receive at least two electromagnetic wave signals transmitted by at least two electromagnetic wave transmitters on a charging device within a preset time range; a demodulator configured to demodulate the at least two electromagnetic wave signals received by the electromagnetic wave receiver to obtain at least two corresponding electromagnetic wave demodulation data; a processor configured to determine electromagnetic wave demodulation control data based on the at least two obtained electromagnetic wave demodulation data and preset electromagnetic wave demodulation data; and a controller configured to move the robot according to the electromagnetic wave demodulation control data until the robot is docked at the charging device. In the above-mentioned manner, the robot is facilitated to select the plurality of electromagnetic wave demodulation data to smoothen the docking process.
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公开(公告)号：US20180361573A1
公开(公告)日：2018-12-20
申请号：US15815583
申请日：2017-11-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Wenxue Xie
Abstract: The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time.
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公开(公告)号：US20250072691A1
公开(公告)日：2025-03-06
申请号：US18911202
申请日：2024-10-09
Applicant: Best Epoch Technology Co., LTD , UBTECH ROBOTICS CORP LTD
Inventor： MENG LI , Xiangbin Huang , Liuchen Yang , Gaobo Huang
Abstract: A method for docking a cleaning robot includes: obtaining a map of a scene where the cleaning robot is located, and a position of the cleaning robot in the map; determining a map contour where the position of the cleaning robot is located according to the map; determining a plurality of traversal points for searching for a charging station and a plurality of traversal areas corresponding to the plurality of traversal points according to the map contour; and searching for the charging station in the traversal areas corresponding to the traversal points according to a predetermined search order, until the charging station is found in the traversal areas, or the traversal areas corresponding to all of the traversal points have been searched.
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Patent Agency Ranking
公开(公告)号：US10913155B2
公开(公告)日：2021-02-09
申请号：US16022709
申请日：2018-06-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
Abstract: A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
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公开(公告)号：US20190193265A1
公开(公告)日：2019-06-27
申请号：US16022709
申请日：2018-06-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
CPC classification number: B25J9/1664 , B25J9/0009 , B25J17/0241
Abstract: A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
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公开(公告)号：US10220509B2
公开(公告)日：2019-03-05
申请号：US15815583
申请日：2017-11-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Wenxue Xie
Abstract: The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time.
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公开(公告)号：US20180373261A1
公开(公告)日：2018-12-27
申请号：US15721759
申请日：2017-09-30
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Jiawen Hu , Gaobo Huang
IPC: G05D1/02
Abstract: The present disclosure relates to a recharging alignment method of a robot and a robot thereof. The recharging alignment method includes adjusting a signal receiver of the robot to a first critical point to obtain position information of the first critical point, adjusting the signal receiver from the first critical point to a second critical point to obtain position information of the second critical point, determining a mid-point of the first critical point arid the second critical point according to the position information of the first critical point and the second critical point, and adjusting the signal receiver to the mid-point to align with the recharging dock, so as to accurately align with the recharging dock.
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公开(公告)号：US20180169862A1
公开(公告)日：2018-06-21
申请号：US15432923
申请日：2017-02-15
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Jiawen Hu , Gaobo Huang
IPC: B25J9/16
CPC classification number: B25J9/1664
Abstract: A motion control method for a robot is disclosed. The robot includes a determining module, a merging module, and a controlling module. The determining module determines whether at least two motion tasks executed in an adjacent sequence satisfy a merging condition. The merging module merges the at least two motion tasks to a new motion task, when the merging condition is satisfied. The controlling module controls the robot to perform the new motion task.
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