Granted Patent B2

US 11,020,857 · App. 16/236,526 · Granted Jun 1, 2021

Inventors: Youjun Xiong (Shenzhen, CN); Xiangbin Huang (Shenzhen, CN); Musen Zhang (Shenzhen, CN); Peng Nie (Shenzhen, CN); Hailang Zhou (Shenzhen, CN)

Assignee: UBTECH ROBOTICS CORP.

B25J9/1694

Abstract

Claims (60)

1. A computer-implemented distance measuring method for a robot disposed with a plurality of ranging sensors, comprising executing on a processor the steps of:

obtaining a plurality of relative position parameters of the robot from the 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;

enabling the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule, wherein the preset looping rule is the total length of tracks of sequences to enable the plurality of ranging sensors in a looping period being the largest among the sums of the installation distances of all the looping arrangements of the plurality of ranging sensors;

receiving a plurality of distances of a target obstacle collected according to the looping period by a target ranging sensor, wherein the target ranging sensor is any one of the plurality of ranging sensors;

calculating a mean square error of the plurality of distances;

calculating a motion trend threshold of the robot based on a motion speed of the robot and a preset proportion; and

determining a final distance of the target obstacle based on a comparison between the mean square error and the motion trend threshold.

2. The method of claim 1 , wherein the step of determining the final distance of the target obstacle based on the comparison between the mean square error and the motion trend threshold comprises:

determining the latest obtained distance in the plurality of distances to be invalid, in response to the mean square error being larger than the motion trend threshold; and

determining the latest obtained distance in the plurality of distances as the final distance, in response to the mean square error being smaller than the motion trend threshold.

3. The method of claim 2 , further comprising:

enabling the next ranging sensor according to the preset looping rule to perform obstacle measurement, in response to the latest obtained distance in the plurality of distances being determined as invalid.

4. The method of claim 1 , wherein the plurality of ranging sensors comprise one or more of an ultrasonic ranging sensor, an infrared ranging sensor, and a millimeter wave radar.

5. The method of claim 1 , wherein the plurality of relative position parameters of the robot are relative position coordinates of the ranging sensors in a same coordinate system.

6. The method of claim 1 , wherein there are six ranging sensors evenly distributed on a circular frame of the robot.

7. The method of claim 1 , wherein the mean square error reflects dispersion level of the plurality of distances, and the mean square error is proportional to the motion speed of the robot.

8. A distance measuring apparatus for a robot disposed with a plurality of ranging sensors, comprising:

a memory;

a processor; and

one or more computer programs stored in the memory and executed by the processor, cause the processor to:

obtain a plurality of relative position parameters of the robot from the plurality of ranging sensors;

determine an installation distance between each two of the ranging sensors based on the plurality of relative position parameters;

determine 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;

enable the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule, wherein the preset looping rule is the total length of tracks of sequences to enable the plurality of ranging sensors in a looping period being the largest among the sums of the installation distances of all the looping arrangements of the plurality of ranging sensors;

receive a plurality of distances of a target obstacle collected according to the looping period by a target ranging sensor, wherein the target ranging sensor is any one of the plurality of ranging sensors;

calculate a mean square error of the plurality of distances;

calculate a motion trend threshold of the robot based on a motion speed of the robot and a preset proportion; and

determine a final distance of the target obstacle based on a comparison between the mean square error and the motion trend threshold.

9. The apparatus of claim 8 , wherein the final distance of the target obstacle is determined by:

determining the latest obtained distance in the plurality of distances to be invalid, in response to the mean square error being larger than the motion trend threshold; and

determining the latest obtained distance in the plurality of distances as the final distance, in response to the mean square error being smaller than the motion trend threshold.

10. The apparatus of claim 9 , wherein when the one or more computer programs are executed by the processor, further cause the processor to:

enable the next ranging sensor according to the preset looping rule to perform obstacle measurement, in response to the latest obtained distance in the plurality of distances being determined as invalid.

11. The apparatus of claim 8 , wherein the plurality of ranging sensors comprise one or more of an ultrasonic ranging sensor, an infrared ranging sensor, and a millimeter wave radar.

12. The apparatus of claim 8 , wherein the plurality of relative position parameters of the robot are relative position coordinates of the ranging sensors in a same coordinate system.

13. The apparatus of claim 8 , wherein there are six ranging sensors evenly distributed on a circular frame of the robot.

14. The apparatus of claim 8 , wherein the mean square error reflects dispersion level of the plurality of distances, and the mean square error is proportional to the motion speed of the robot.

15. A robot comprising:

a plurality of ranging sensors;

a memory;

a processor; and

one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:

instructions for obtaining a plurality of relative position parameters of the robot from the plurality of ranging sensors;

instructions for determining an installation distance between each two of the ranging sensors based on the plurality of relative position parameters;

instructions for 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;

instructions for enabling the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule, wherein the preset looping rule is the total length of tracks of sequences to enable the plurality of ranging sensors in a looping period being the largest among the sums of the installation distances of all the looping arrangements of the plurality of ranging sensors;

instructions for receiving a plurality of distances of a target obstacle collected according to the looping period by a target ranging sensor, wherein the target ranging sensor is any one of the plurality of ranging sensors;

instructions for calculating a mean square error of the plurality of distances;

instructions for calculating a motion trend threshold of the robot based on a motion speed of the robot and a preset proportion; and

instructions for determining a final distance of the target obstacle based on a comparison between the mean square error and the motion trend threshold.

16. The robot of claim 15 , wherein the instructions for determining the final distance of the target obstacle based on the comparison between the mean square error and the motion trend threshold comprises:

instructions for determining the latest obtained distance in the plurality of distances to be invalid, in response to the mean square error being larger than the motion trend threshold; and

instructions for determining the latest obtained distance in the plurality of distances as the final distance, in response to the mean square error being smaller than the motion trend threshold.

17. The robot of claim 16 , wherein the one or more computer programs further comprise:

instructions for enabling the next ranging sensor according to the preset looping rule to perform obstacle measurement, in response to the latest obtained distance in the plurality of distances being determined as invalid.

18. The robot claim 15 , wherein the plurality of ranging sensors comprise one or more of an ultrasonic ranging sensor, an infrared ranging sensor, and a millimeter wave radar.

19. The robot of claim 15 , wherein the plurality of relative position parameters of the robot are relative position coordinates of the ranging sensors in a same coordinate system.

20. The robot of claim 4 , wherein there are six ranging sensors evenly distributed on a circular frame of the robot.

Assignments (2)

Priority Claims (1)

Continuity (1)

Cited By (12)

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