Ubtech Robotics Corp Ltd

Best Epoch Technology Co. Ltd

Gaobo Huang

Youjun Xiong

Jiawen Hu

Xiangbin Huang

Musen Zhang

Wenxue Xie

Hua Zhang

Libing Zhou

Hailang Zhou

Wenzhi Xu

Caixia Li

Jinbiao Zhang

Guoke Luo

Jibang Cui

Pinjun Fu

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.

Recharge control method, robot and computer-readable storage medium

A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.

Pose calibration method, robot and computer readable storage medium

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.

Robot recharging localization method and robot using the same

A robot movement control method and apparatus as well as a robot using the same are provided. The method includes: calculating a distance between a robot and a Ultrawide Band (UWB) base station; configuring an internal coordinate system according to a preset position of the UWB base station, and calculating a coordinate of the robot in the internal coordinate system according to a distance between the UWB base station and the robot; combining the coordinate of the robot in the internal coordinate system with localization information of an odometer provided on the robot to obtain a combined robot coordinate; and controlling the robot to move in accordance with a preset target position according to the combined robot coordinate. In such manner, UWB base station localization can be used to control the movement of a robot in a limited scene.

Robot movement control method, apparatus and robot using the same

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.

Robot recharge docking method and robot with the same

The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.

Joint limit detection method, and robot with the same

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.

Robot and method for controlling joints thereof

The present disclosure relates to robot technology, and particularly to a method and a robot for identifying charging station. The method includes: first, obtaining scanning data produced by a radar of the robot; then, determining whether an arc-shaped object exists in a scanning range of the radar of the robot based on the scanning data; finally, in response to determining that the arc-shaped object exists in the scanning range of the robot, determining that the arc-shaped object is a charging station. Compared with the prior art, the present disclosure substitutes the arc identification for the conventional concave-convex structure identification. Since the surface of the arc is relatively smooth, the data jumps at the intersection of the cross-section will not occur, hence the accuracy of charging station identification can be greatly improved.

Charging station identifying method and robot

An error diagnosis method of a robot includes determining operational status of components of a robot and determining an operational status of a main control process of the robot, generating diagnosis data comprising a data format having an error status level, a name of an error diagnosis processes of the components, and an error code identity (ID) number, packaging diagnosis data of the operational status of the components as diagnosis information in a predetermined data format, storing the diagnosis information in memory.

Method and terminal device for diagnosing robot errors

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.

Cliff detection method, apparatus, and terminal device

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.

Data processing method for robot and robot with the same

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.

Motion control method and robot using same

The present disclosure relates to a motion-controlling method of a robot and the robot thereof. A main control circuit continuously transmits a controlling instruction to a cache circuit. The controlling instruction may include the controlling information of a specific servo. A driving circuit is configured to obtain and analyze the controlling instruction from the cache circuit, so as to obtain the controlling information of the specific servo. The driving circuit transmits the controlling information to the specific servo to control the specific servo. As such, coherence of the robot may be improved.

Motion-controlling method of robot and the robot thereof

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.

Recharging alignment method of robot, and the robot thereof

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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Shenzhen, China

Gaobo Huang