公开(公告)号：US12179364B2

公开(公告)日：2024-12-31

申请号：US17566726

申请日：2021-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Jianxin Pang ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/16

Abstract: A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.

公开(公告)号：US20240290097A1

公开(公告)日：2024-08-29

申请号：US18427775

申请日：2024-01-30

Applicant: UBTech Robotics Corp Ltd

Inventor： Kan Wang ,  Jianxin Pang ,  Huan Tan

IPC: G06V20/40 ,  G06V10/74 ,  G06V10/77 ,  G06V10/82

CPC classification number: G06V20/46 ,  G06V10/761 ,  G06V10/7715 ,  G06V10/82 ,  G06V20/48

Abstract: A method for extracting video features may include: obtaining a target video sequence that comprises a number of video frames; performing video frame feature extraction on the target video sequence to obtain video frame features of each of the video frames; performing feature weight calculation on each of the video frame features to obtain the feature weight of each of the video frame features; wherein the feature weight of each of the video frame features is determined by the video frame features of all of the video frames in the target video sequence; and performing feature weighting on each of the video frame features according to the feature weight of each of the video frame features to obtain video features of the target video sequence.

公开(公告)号：US11708882B2

公开(公告)日：2023-07-25

申请号：US16941579

申请日：2020-07-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

IPC: F16H21/54 ,  B25J17/00 ,  B25J9/12 ,  B25J17/02 ,  B25J9/10

CPC classification number: F16H21/54 ,  B25J9/126 ,  B25J17/00 ,  B25J17/0266 ,  B25J9/106

Abstract: A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

公开(公告)号：US11654572B2

公开(公告)日：2023-05-23

申请号：US16935231

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Kun Xie ,  Chenchen Jiang ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1697 ,  B25J9/161 ,  B25J9/1653 ,  B25J9/1664 ,  B25J13/08

Abstract: The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.

公开(公告)号：US11644841B2

公开(公告)日：2023-05-09

申请号：US17113132

申请日：2020-12-07

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Shuping Hu ,  Jun Cheng ,  Jingtao Zhang ,  Miaochen Guo ,  Dong Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/13 ,  B62D57/02 ,  G06T1/00

CPC classification number: G05D1/0212 ,  B62D57/02 ,  G05D1/0231 ,  G06T1/0014 ,  G06T7/13 ,  G06T7/73

Abstract: A robot climbing control method is disclosed. A gravity direction vector in a gravity direction in a camera coordinate system of a robot is obtained. A stair edge of stairs in a scene image is obtained and an edge direction vector of the stair edge in the camera coordinate system is determined. A position parameter of the robot relative to the stairs is determined according to the gravity direction vector and the edge direction vector. Poses of the robot are adjusted according to the position parameter to control the robot to climb the stairs.

公开(公告)号：US11636712B2

公开(公告)日：2023-04-25

申请号：US17463500

申请日：2021-08-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chi Shao ,  Miaochen Guo ,  Jun Cheng ,  Jianxin Pang

IPC: G06V40/20 ,  G06V10/94 ,  G06V20/40 ,  G06V10/62 ,  G06V10/82 ,  G06V40/10 ,  G06N3/08 ,  G06F18/21 ,  G06F18/20 ,  G06F18/214

Abstract: A dynamic gesture recognition method includes: performing detection on each frame of image of a video stream using a preset static gesture detection model to obtain a static gesture in each frame of image of the video stream; in response to detection of a change of the static gesture from a preset first gesture to a second gesture, suspending the static gesture detection model and activating a preset dynamic gesture detection model; and performing detection on multiple frames of images that are pre-stored in a storage medium using the dynamic gesture detection model to obtain a dynamic gesture recognition result.

公开(公告)号：US11565762B2

公开(公告)日：2023-01-31

申请号：US16724413

申请日：2019-12-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Xianwei Su ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: B62D57/02 ,  G01L5/16

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

公开(公告)号：US11230012B2

公开(公告)日：2022-01-25

申请号：US16508335

申请日：2019-07-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Hanyu Sun ,  Wenhua Fan ,  Lifu Zhang ,  Zhongliang Wang ,  Jianxin Pang

IPC: B25J19/02 ,  B25J9/16

Abstract: A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.

公开(公告)号：US11207789B2

公开(公告)日：2021-12-28

申请号：US16709927

申请日：2019-12-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youpeng Li ,  Youjun Xiong ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

IPC: B25J18/00 ,  B25J17/02 ,  B25J9/00 ,  B25J9/10

Abstract: A robotic arm assembly includes a main body, a number of servos arranged within the main body, each of which has an output shaft, and a rotary connection member connected to the output shaft of one of the servos at a first end of the main body. The rotary connection member defines a through hole allows cables to pass therethrough.

公开(公告)号：US11161246B2

公开(公告)日：2021-11-02

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongjian Liu ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.