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    Frame transmission methods and devices
    2.
    发明授权
    Frame transmission methods and devices 有权

    公开(公告)号：US10333838B2

    公开(公告)日：2019-06-25

    申请号：US15649590

    申请日：2017-07-13

    Applicant: UBTECH Robotics Corp.

    Inventor： Youjun Xiong ,  Hailang Zhou ,  Musen Zhang

    IPC: H04L12/721 ,  H04L12/403 ,  H04L12/40

    Abstract: The present disclosure relates to a frame transmission method and a frame transmission device. The data frame includes an arbitration field and a data field. The arbitration field includes a frame mode indication sub-field indicating a frame mode of the data frame, and the data field includes an instruction sub-field indicating instruction messages carried the data frame. A great deal of information may be obtained by the configuration of the present disclosure, and thus the transmission efficiency may be enhanced.

    Joint limit detection method, and robot with the same
    4.
    发明授权
    Joint limit detection method, and robot with the same 有权

    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

    IPC: B25J9/16 ,  B25J9/12

    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.

    ROBOTIC MOTION CONTROL METHOD AND APPARATUS AND ROBOT USING THE SAME
    5.
    发明申请
    ROBOTIC MOTION CONTROL METHOD AND APPARATUS AND ROBOT USING THE SAME 有权

    公开(公告)号：US20210200223A1

    公开(公告)日：2021-07-01

    申请号：US16817565

    申请日：2020-03-12

    Applicant: UBTECH ROBOTICS CORP LTD.

    Inventor： XIANGBIN HUANG ,  Musen Zhang ,  Wenzhi Xu ,  Youjun Xiong

    IPC: G05D1/02

    Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.

    Robot distance measuring method, apparatus and robot using the same
    6.
    发明授权
    Robot distance measuring method, apparatus and robot using the same 有权

    公开(公告)号：US11020857B2

    公开(公告)日：2021-06-01

    申请号：US16236526

    申请日：2018-12-30

    Applicant: UBTECH Robotics Corp

    Inventor： Youjun Xiong ,  Xiangbin Huang ,  Musen Zhang ,  Peng Nie ,  Hailang Zhou

    IPC: B25J9/16

    Abstract: The present disclosure provides a robot distance measuring method and apparatus as well as a robot using the same. The method includes: obtaining a plurality of relative position parameters of a robot from a plurality of ranging sensors; determining an installation distance between each two of the ranging sensors based on the plurality of relative position parameters; determining a sum of the installation distance of each looping arrangement of the plurality of ranging sensors based on the installation distance between each two of the ranging sensors; and enabling the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule. Since the adjacent ranging sensors are avoided to range simultaneously or sequentially, the interference of the adjacent ranging sensors can be minimized, the accuracy of measuring the distance of the surrounding obstacles can be improved, thereby improving the navigation performance of the robot.

    Obstacle avoidance method and system for robot and robot using the same
    8.
    发明授权
    Obstacle avoidance method and system for robot and robot using the same 有权

    公开(公告)号：US10996678B2

    公开(公告)日：2021-05-04

    申请号：US16236524

    申请日：2018-12-30

    Applicant: UBTECH Robotics Corp

    Inventor： Youjun Xiong ,  Peng Nie ,  Xu Hu ,  Musen Zhang

    IPC: G05D1/02 ,  G05D1/00 ,  G01S17/931

    Abstract: The present disclosure provides an obstacle avoidance method and system for a robot having ranging sensors as well as a robot using the same. The method includes: obtaining detection data collected by the plurality of ranging sensors; obtaining a current position of the robot based on the collected detection data; determining whether historical detection data corresponding to the current position has been stored; planning a movement path of the robot based on the collected detection data and the historical detection data and generating movement path information of the movement path, if the historical detection data corresponding to the current position has been stored; and controlling the robot to move along an obstacle-free path based on the movement path information. The present disclosure can effectively break through the limitation of the sensor technology, reduce the detection blind zone, and effectively improve the obstacle avoidance efficiency of a robot.

    JOINT LIMIT DETECTION METHOD, APPARATUS, AND ROBOT WITH THE SAME
    9.
    发明申请
    JOINT LIMIT DETECTION METHOD, APPARATUS, AND ROBOT WITH THE SAME 审中-公开

    公开(公告)号：US20190329406A1

    公开(公告)日：2019-10-31

    申请号：US16359965

    申请日：2019-03-20

    Applicant: UBTECH Robotics Corp

    Inventor： Youjun Xiong ,  Gaobo Huang ,  Hailang Zhou ,  Musen Zhang

    IPC: B25J9/16 ,  B25J9/12

    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.

    METHOD AND DEVICE FOR LOCALIZING ROBOT AND ROBOT
    10.
    发明申请
    METHOD AND DEVICE FOR LOCALIZING ROBOT AND ROBOT 审中-公开

    公开(公告)号：US20190202067A1

    公开(公告)日：2019-07-04

    申请号：US16214155

    申请日：2018-12-10

    Applicant: UBTECH Robotics Corp

    Inventor： Youjun Xiong ,  Gaobo Huang ,  Musen Zhang ,  Xiangbin Huang

    IPC: B25J13/08 ,  B25J13/00 ,  B25J19/02 ,  B25J9/16 ,  G06K9/62

    CPC classification number: B25J13/089 ,  B25J9/1697 ,  B25J13/006 ,  B25J19/022 ,  G06K9/629

    Abstract: A computer-implemented method for localizing a robot comprising an ultra wideband (UWB) localization device, at least one sensor and a particle filter localization device. The method comprising executing on a processor steps of: acquiring first location information of the robot through the UWB localization device; acquiring second location information within a range defined by the first location information through the at least one sensor, wherein the second location information comprising current location information and running orientation data of the robot; and determining, by the particle filter localization device, whether there exists a localization point matching the second location information in data of a preset map; if so, determining that the second location information is valid location information of the robot.

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