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.

Abstract: This application provides a connecting assembly, a battery module, a battery pack, a device, and a manufacturing method. The connecting assembly includes an insulation board and a busbar. The insulation board includes a hollow portion, a first side, and a second side. The busbar includes a first busbar and a second busbar. The first busbar is disposed on the first side of the insulation board. The second busbar is disposed from the second side into the hollow portion of the insulation board. The battery module includes a battery cell and a module frame. The battery cell is accommodated in the module frame. A device using a battery cell as a power supply includes: a power source configured to provide a driving force for the device; and a battery module configured to provide electrical energy to the power source.

Abstract: 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.

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.

Abstract: An embodiment of this application provides a connecting assembly, a battery module, a battery pack, a device, and a manufacturing method. The connecting assembly includes an insulation board and a busbar. The insulation board includes a hollow portion, a first side, and a second side. The busbar includes a first busbar and a second busbar. The first busbar is disposed on the first side of the insulation board. The second busbar is disposed from the second side into the hollow portion of the insulation board. The battery module includes a battery cell and a module frame. The battery cell is accommodated in the module frame. The battery module further includes a connecting assembly. The connecting assembly is connected to an electrode lead of the battery cell by the busbar. The battery pack includes the battery module.

Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.

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.

Abstract: 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.

Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.

Abstract: The present disclosure provides a movement control method for a robot as well as an apparatus and a robot using the same. The method includes: obtaining a starting position and an ending position of the robot, in response to a movement instruction being detected; determining a movement path of the robot based on the starting position and the ending position; obtaining pass qualification information of the robot, if the movement path intersects a line corresponding to a preset virtual wall; and moving the robot to the ending position according to the movement path, if the pass qualification information identifying the robot is allowed to traverse the virtual wall. By obtaining the pass qualification information, the robot can return to the working area from the non-working area in the case of an abnormality, while ensuring that the robot does not actively traverse from the working area to the non-working area.

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.

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.

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.

Abstract: The present disclosure discloses an ultrasonic ranging method as well as an apparatus, and a robot using the same. The method includes: obtaining ultrasonic ranging data detected by a preset ultrasonic sensor; filtering the ultrasonic ranging data to obtain the filtered ultrasonic ranging data; determining whether a measured distance of a target sampling point meets a preset stability determination condition, where the target sampling point is any sampling point in the filtered ultrasonic ranging data; and recording and outputting the measured distance of the target sampling point, if the measured distance of the target sampling point meets the stability determination condition. According to the present disclosure, after the ultrasonic ranging data is filtered, the measured distance of each sampling point in the ultrasonic ranging data is further determined through the preset stability determination condition, which greatly reduces the probability of the occurrence of false alarms.

Abstract: A motion target direction angle obtaining method and a robot using the same. The method includes: creating an absolute coordinate system, and obtaining an absolute position coordinate of at least one point after the first point in the absolute coordinate system; creating a relative coordinate system with the first point as an origin, and obtaining a relative position coordinate corresponding to the at least one point In the relative coordinate system; calculating matrix parameters of a transformation matrix based on the absolute position coordinate of the at least one point and the relative position coordinate corresponding to the at least one point; and determining a direction angle of the motion target at the first point based on the matrix parameters. Combines an absolute portioning method and a relative positioning method to calculate the direction angle.

Abstract: 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.

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.

Abstract: 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 each 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.

Abstract: The present disclosure provides a movement control method for a robot as well as an apparatus and a robot using the same. The method includes: obtaining a starting position and an ending position of the robot, in response to a movement instruction being detected; determining a movement path of the robot based on the starting position and the ending position; obtaining pass qualification information of the robot, if the movement path intersects a line corresponding to a preset virtual wall; and moving the robot to the ending position according to the movement path, if the pass qualification information identifying the robot is allowed to traverse the virtual wall. By obtaining the pass qualification information, the robot can return to the working area from the non-working area in the case of an abnormality, while ensuring that the robot does not actively traverse from the working area to the non-working area.

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.