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    NAVIGATION MAP UPDATING METHOD AND APPARATUS AND ROBOT USING THE SAME
    221.
    发明申请
    NAVIGATION MAP UPDATING METHOD AND APPARATUS AND ROBOT USING THE SAME 有权

    公开(公告)号：US20210190513A1

    公开(公告)日：2021-06-24

    申请号：US16843923

    申请日：2020-04-09

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

    IPC: G01C21/32 ,  G05D1/02

    Abstract: The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.

    ROBOT BALANCE CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT
    222.
    发明申请
    ROBOT BALANCE CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT 有权

    公开(公告)号：US20210181748A1

    公开(公告)日：2021-06-17

    申请号：US17120232

    申请日：2020-12-13

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

    IPC: G05D1/02 ,  G01L5/16 ,  B62D57/02 ,  G05B19/4155

    Abstract: A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

    Robot distance measuring method, apparatus and robot using the same
    225.
    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.

    ZERO MOMENT POINT JITTER PROCESSING METHOD AND APPARATUS AND ROBOT USING THE SAME
    227.
    发明申请
    ZERO MOMENT POINT JITTER PROCESSING METHOD AND APPARATUS AND ROBOT USING THE SAME 有权

    公开(公告)号：US20210107577A1

    公开(公告)日：2021-04-15

    申请号：US16724413

    申请日：2019-12-23

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Xianwei Su ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

    IPC: B62D57/02 ,  G01L5/16

    Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

    Brake assembly and servo having the same
    228.
    发明授权
    Brake assembly and servo having the same 有权

    公开(公告)号：US10935090B2

    公开(公告)日：2021-03-02

    申请号：US16368879

    申请日：2019-03-29

    Applicant: UBTECH Robotics Corp

    Inventor： Youjun Xiong ,  Youpeng Li ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

    IPC: F16D63/00 ,  F16D55/226 ,  F16D65/12 ,  F16D129/10

    Abstract: A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.

    ROBOT RECHARGING LOCALIZATION METHOD AND ROBOT USING THE SAME
    229.
    发明申请
    ROBOT RECHARGING LOCALIZATION METHOD AND ROBOT USING THE SAME 有权

    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

    IPC: G05D1/02 ,  G01S13/88

    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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