公开(公告)号：US10384352B1

公开(公告)日：2019-08-20

申请号：US16233131

申请日：2018-12-27

Applicant: UBTECH Robotics Corp

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

IPC: B25B15/00 ,  B25J15/06 ,  B25J15/08 ,  B25J15/00

Abstract: A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a rotating member that is rotatable with respect to the phalanx portion, a rope having two opposite ends respectively connected to one phalanx and the rotating member, a rotating cam driven by a driving device and having a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction, and an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction.

公开(公告)号：US20190196493A1

公开(公告)日：2019-06-27

申请号：US15920467

申请日：2018-03-14

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Gaobo Huang ,  Jiawen Hu

IPC: G05D1/02

Abstract: The present disclosure provides a method, apparatus, and terminal device for cliff detection. The method includes: obtaining a detection distance matrix of distances between a camera of a target robot and a ground within a preset detection angle range collected by the camera; obtaining a difference matrix obtained by subtracting a theoretical distance matrix from the detection distance matrix; counting an amount of elements in the difference matrix being greater than a preset first threshold; and determining a cliff is detected if the counted amount of the elements is greater than a preset second threshold. Through the overall consideration of the distance matrix of the distances within the detection angle range, even if a certain part of the ground changes its external conditions such as the color depth and the lightness, the influences on the overall detection result is extremely limited, which makes the detection result more accurate and reliable.

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：US11072072B2

公开(公告)日：2021-07-27

申请号：US16370884

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jiawen Hu ,  Gaobo Huang ,  Musen Zhang

IPC: B25J9/16 ,  B25J19/00

Abstract: The present disclosure provides a robot recharge docking method. The method includes: obtaining current radar data of a radar of a robot for a scanned obstacle; obtaining a position of a target object by analyzing the current radar data; controlling the robot to move to a predetermined position around the target object; determining whether infrared carrier data is received by the robot recharge docking apparatus from the target object; determining that the target object is a charging station upon receiving the infrared carrier data from the target object; and docking the robot at the target object to charge if the target object is the charging station. In the above-mentioned manner, the present disclosure can prevent the robot from taking an obstacle similar to a charging station in shape as the charging station to dock at, thereby ensuring the safety of the automatic recharging of the robot.

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.

公开(公告)号：US20190196490A1

公开(公告)日：2019-06-27

申请号：US16205248

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jiawen Hu ,  Gaobo Huang ,  Caixia Li

IPC: G05D1/02 ,  G08C23/04 ,  G05D1/00 ,  G01C21/20

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.

公开(公告)号：US20180348788A1

公开(公告)日：2018-12-06

申请号：US15719594

申请日：2017-09-29

Applicant: UBTECH Robotics Corp.

Inventor： YOUJUN XIONG ,  Jiawen Hu ,  Gaobo Huang

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  A47L2201/022 ,  A47L2201/06 ,  G05D1/0225 ,  G05D1/0242 ,  G05D2201/0203

Abstract: The present disclosure relates to a robot, a distance measuring method, and a recharging system tor robot. The distance measuring method includes configuring a current position of a robot to be a first position, obtaining a first direction along a connection line from the first position to a signals transmitting position by a sensor of the robot, obtaining a second direction along a connection line from a second position to the signals transmitting position when the robot being driven by a driver to move along a moving direction by a predetermined distance to the second position, and the moving direction being perpendicular to the first direction to the second position, obtaining a distance between the second position and the signals transmitting position according to an included angle formed by the first direction and the second direction, and the predetermined distance.