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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.
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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：US20230210334A1
公开(公告)日：2023-07-06
申请号：US18080702
申请日：2022-12-13
Applicant: UBTECH ROBOTICS CORP LTD , Best Epoch Technology Co., LTD
Inventor： Gaobo Huang , Hua Zhang , Xiangbin Huang
CPC classification number: A47L11/4011 , G05D1/0225 , G05D1/0242 , A47L2201/04 , A47L2201/022 , G05D2201/0203
Abstract: A recharge control method includes: providing a robot comprising a body and four infrared carrier receivers, wherein a second and a third of the four infrared carrier receivers are mounted on a front of the body, and a first and a fourth of four infrared carrier receivers are mounted on left side and on a right side of the body; receiving, by one or more of the four infrared carrier receivers, infrared carrier emitted by a charging dock; determining an area where the robot is located, wherein the area is one of at least five areas around the charging dock that are determined based on receiving of the infrared carrier by different combinations of the four infrared carriers and based on not receiving of the infrared carrier by the infrared carriers; and controlling the robot to move to the charging dock according to a movement mode corresponding to the area.
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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
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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公开(公告)号：US20190018422A1
公开(公告)日：2019-01-17
申请号：US16035569
申请日：2018-07-13
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Caixia Li , Xiangbin Huang
IPC: G05D1/02
Abstract: The present disclosure discloses a robot recharge control method, a robot and a robot system. The robot recharge control method includes: moving a robot to a first position of one of two edge lines of a preset detection signal region; moving the robot from the first position to a second position of the other edge line of the preset detection signal region; moving the robot from the second position to a midpoint of a line connecting the first position and the second position; and moving the robot from the midpoint to the dock section of the charging base. By detecting the two edge lines of the preset detection signal region, the first position and the second position which are axisymmetric with respect to the dock section are found, and then a center point corresponding to the dock section is found through the first position and the second position.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20250113963A1
公开(公告)日：2025-04-10
申请号：US18888209
申请日：2024-09-18
Applicant: Best Epoch Technology Co., LTD , UBTECH ROBOTICS CORP LTD
Inventor： MENG LI , Xiangbin Huang
Abstract: A method for area dividing in a map for a mobile robot includes: obtaining a target binary map of a target area; obtaining a first area map and a second area map according to the target binary map; obtaining a target area-dividing map of the target area according to the first area map and the second area map; and controlling the mobile robot according to the target area-dividing map.
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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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公开(公告)号：US11260528B2
公开(公告)日：2022-03-01
申请号：US16726196
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wenzhi Xu , Xiangbin Huang , Wenxue Xie , Youjun Xiong
Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.
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公开(公告)号：US10788334B2
公开(公告)日：2020-09-29
申请号：US16195868
申请日：2018-11-20
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xiangbin Huang
Abstract: The present disclosure provides an omni wheel mileage calibration method and apparatus, as well as a robot using the wane. The method includes: (a) calibrating the omni wheel through a linear motion to obtain a straight line calibration result; (b) calibrating the omni wheel through a rotational motion to obtain a rotation calibration result; (c) performing error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result; (d) determining a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful in response to the error verification result meeting a preset precision requirement. The present disclosure provides a mileage calibration method for an omni wheel system, which improves the operation precision of a robot.
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公开(公告)号：US20190195653A1
公开(公告)日：2019-06-27
申请号：US16195868
申请日：2018-11-20
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xiangbin Huang
Abstract: The present disclosure provides an omni wheel mileage calibration method and apparatus, as well as a robot using the wane. The method includes: (a) calibrating the omni wheel through a linear motion to obtain a straight line calibration result; (b) calibrating the omni wheel through a rotational motion to obtain a rotation calibration result; (c) performing error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result; (d) determining a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful in response to the error verification result meeting a preset precision requirement. The present disclosure provides a mileage calibration method for an omni wheel system, which improves the operation precision of a robot.
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