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公开(公告)号：US20200078944A1
公开(公告)日：2020-03-12
申请号：US16687838
申请日：2019-11-19
发明人： Lianzhong LI , William Xiao-Qing Huang , Shenhua Xu , Jian Zhang , Shenglin Qiu
摘要： This application relates to the field of visual navigation technology, and discloses a localization method, apparatus, robot and computer storage medium. The localization method is applied to a robot having an autonomous location and navigation function. The localization method includes: determining that localization through an image of surrounding environment fails in a process of driving to a preset distance, and controlling the robot to decelerate and perform localization through an image of surrounding environment in a process of deceleration until the localization succeeds. The localization method enables the robot to reasonably adjust its running velocity in accordance with the environment during driving, thereby accurately localizing the location where the robot is located.
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公开(公告)号：US11458619B2
公开(公告)日：2022-10-04
申请号：US16730361
申请日：2019-12-30
发明人： Tianhao Wang , Shenhua Xu
IPC分类号： B25J9/16
摘要： A method for calculating an arm angle range of a robot arm includes: determining a pose at an tail end position of the robot arm; judging whether an angle of an elbow joint is within a limit thereof when an arm angle is 180 degrees; if yes, constructing a first position matrix characterizing the elbow joint by using the pose and the arm angle; constructing a second position matrix of the elbow joint by using DH parameters of other joints of the robot arm; calculating, according to the first position matrix and the second position matrix, a first arm angle feasible region satisfying a limit of a position joint; judging whether the robot arm has a secondary position joint; and intersecting with the calculated first arm angle feasible region to obtain an arm angle range if no secondary position joint is present at the robot arm.
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公开(公告)号：US11318615B2
公开(公告)日：2022-05-03
申请号：US16730575
申请日：2019-12-30
发明人： Tianhao Wang , Shenhua Xu
IPC分类号： B25J9/16
摘要： A motion planning method for robot arms includes: calculating an arm angle range of each pose of a tail end of a robot arm in the motion trajectory; calculating a start arm angle value of a start pose of the tail end of the robot arm in the motion trajectory; calculating an arm angle proportion according to the start arm angle value and the arm angle range of the start pose; identifying an abruptly changing arm angle range in the arm angle range of each pose according to a upper boundary curve and a lower boundary curve; calculating an arm angle of a pose corresponding to the abruptly changing arm angle range; calculating arm angles corresponding to the other poses according to the arm angle proportion; and calculating an angle of a joint of the robot arm.
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