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公开(公告)号：US10671080B2
公开(公告)日：2020-06-02
申请号：US16205248
申请日：2018-11-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang , Caixia Li
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.
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公开(公告)号：US20210008730A1
公开(公告)日：2021-01-14
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
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.
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公开(公告)号：US10739781B2
公开(公告)日：2020-08-11
申请号：US15920467
申请日：2018-03-14
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
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.
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公开(公告)号：US10518420B1
公开(公告)日：2019-12-31
申请号：US16233139
申请日：2018-12-27
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Yu , Qi Zhao , Kunlei Zhao , Jiawen Hu , Yangyu Pi , Jianxin Pang
Abstract: A finger of a robotic hand includes a phalanx portion including two phalanxes rotatably coupled to each other, one of the two phalanxes being rotatable about a rotation axis with respect to the other one of the two phalanxes; and a stopper structure including a first stopper member connected to the one of the two phalanxes and a second stopper member connected to the other one of the two phalanxes. The first stopper member extends around the rotation axis, and a circumferential space is defined between the first stopper member and the second stopper member and allowing the first stopper member to rotate together with the one of the two phalanxes in a predetermined range.
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公开(公告)号：US10913155B2
公开(公告)日：2021-02-09
申请号：US16022709
申请日：2018-06-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
Abstract: A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
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Patent Agency Ranking
公开(公告)号：US20190193265A1
公开(公告)日：2019-06-27
申请号：US16022709
申请日：2018-06-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
CPC classification number: B25J9/1664 , B25J9/0009 , B25J17/0241
Abstract: A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
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公开(公告)号：US20180373261A1
公开(公告)日：2018-12-27
申请号：US15721759
申请日：2017-09-30
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Jiawen Hu , Gaobo Huang
IPC: G05D1/02
Abstract: The present disclosure relates to a recharging alignment method of a robot and a robot thereof. The recharging alignment method includes adjusting a signal receiver of the robot to a first critical point to obtain position information of the first critical point, adjusting the signal receiver from the first critical point to a second critical point to obtain position information of the second critical point, determining a mid-point of the first critical point arid the second critical point according to the position information of the first critical point and the second critical point, and adjusting the signal receiver to the mid-point to align with the recharging dock, so as to accurately align with the recharging dock.
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公开(公告)号：US20180169862A1
公开(公告)日：2018-06-21
申请号：US15432923
申请日：2017-02-15
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Jiawen Hu , Gaobo Huang
IPC: B25J9/16
CPC classification number: B25J9/1664
Abstract: A motion control method for a robot is disclosed. The robot includes a determining module, a merging module, and a controlling module. The determining module determines whether at least two motion tasks executed in an adjacent sequence satisfy a merging condition. The merging module merges the at least two motion tasks to a new motion task, when the merging condition is satisfied. The controlling module controls the robot to perform the new motion task.
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公开(公告)号：US20200030982A1
公开(公告)日：2020-01-30
申请号：US16370884
申请日：2019-03-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang , Musen Zhang
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.
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公开(公告)号：US10528058B2
公开(公告)日：2020-01-07
申请号：US15719594
申请日：2017-09-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang
IPC: G05D1/02
Abstract: The present disclosure relates to a robot, a distance measuring method, and a recharging system for 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.
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