公开(公告)号：US11346648B2

公开(公告)日：2022-05-31

申请号：US16626519

申请日：2018-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Youjun Xiong

IPC: G01B5/24 ,  H02P21/18 ,  G05B19/416

Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

公开(公告)号：US20190163159A1

公开(公告)日：2019-05-30

申请号：US16147591

申请日：2018-09-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Malin Wang ,  Wenhua Fan ,  Sheng Zhou

IPC: G05B19/29 ,  G05B19/414 ,  B25J9/16

Abstract: The present disclosure relates to a method for controlling zero-return of a servo of a robot, and a servo and a robot with enhanced zero-return. The method includes: outputting an activation command to a motor, and reading a default zero-point of the motor (w1) and a default zero-point of an output shaft of the speed reducer (w2). The output shaft of the motor (w1) is driven to return until the default zero-point of the output shaft of the speed reducer (w2) is the same with the current position of the output shaft of the speed reducer (w4) in response to the default zero-point of an output shaft of the speed reducer (w2) being not the same with the current position of the output shaft of the speed reducer (w4).

公开(公告)号：US11418023B2

公开(公告)日：2022-08-16

申请号：US16535112

申请日：2019-08-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Sheng Zhou ,  Malin Wang ,  Wenhua Fan ,  Jianxin Pang

IPC: H02H9/02 ,  G01R33/07 ,  G01R33/00

Abstract: A current protection circuit for a high voltage system includes: a power supply module to supply power to a load through a high voltage bus and a low voltage bus; a detection module connected to the high voltage bus and used to detect a value of current flowing through the high voltage bus; a signal processing module electrically connected to the detection module and used to amplify the current flowing through the high voltage bus; and a control module electrically connected to the signal processing module, the power supply module, and the load, and used to disconnect the load from the power supply module or perform current limiting for the load when the value of the amplified current exceeds a preset threshold.

公开(公告)号：US20210333082A1

公开(公告)日：2021-10-28

申请号：US16626519

申请日：2018-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Youjun Xiong

IPC: G01B5/24 ,  H02P21/18 ,  G05B19/416

Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

公开(公告)号：US11080404B2

公开(公告)日：2021-08-03

申请号：US16576807

申请日：2019-09-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Malin Wang ,  Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Sheng Zhou ,  Jianxin Pang

IPC: G06F8/654 ,  G06F9/4401 ,  G06F21/57 ,  G06F13/40 ,  G06F8/65

Abstract: A firmware upgrade method for a slave station of a robot communicates with a master station of the robot via an EtherCAT bus of the robot, includes: switching a work mode of the slave station to an upgrade mode in response to a firmware upgrade instruction, receiving a new firmware corresponding to this firmware upgrade via the EtherCAT bus, storing the new firmware in a second storage area of a flash memory of the slave station, restarting the slave station after the new firmware is received, and copying the new firmware stored in the second storage area to a first storage area of the flash memory and executing the new firmware in the first storage area when the slave station is started. A slave station of the robot and a machine readable storage medium are also provided.

公开(公告)号：US20190198048A1

公开(公告)日：2019-06-27

申请号：US16163589

申请日：2018-10-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Malin Wang

IPC: G11B5/584 ,  G11B5/55

Abstract: The present disclosure provides a linearity detecting method and apparatus for a servo position sensor, and a robot with the same. The method includes: collecting and saving m output angle of the servo under test; analyzing the output angle to obtain a relationship curve of angle and time of the servo under test to rotate for one turn; extracting angle information of a starting point to an ending point of the output angle corresponding to the position sensor in the servo under test based on the relationship curve of angle and time to obtain valid angle data; and determining whether the output angle corresponding to the position sensor is linear based on the valid angle data. The present disclosure can solve the problem that an external sensor and a fixture are required when detecting the linearity of the sensor which causes complicated operation, high detection cost, and low detection efficiency.

公开(公告)号：US10942502B2

公开(公告)日：2021-03-09

申请号：US16581791

申请日：2019-09-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Jianxin Pang

IPC: G05B19/23 ,  G05B19/4062

Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.

公开(公告)号：US10685672B2

公开(公告)日：2020-06-16

申请号：US16163589

申请日：2018-10-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Malin Wang

IPC: G11B5/584 ,  G11B5/55

Abstract: The present disclosure provides a linearity detecting method and apparatus for a servo position sensor, and a robot with the same. The method includes: collecting and saving an output angle of the servo under test; analyzing the output angle to obtain a relationship curve of angle and time of the servo under test to rotate for one turn; extracting angle information of a starting point to an ending point of the output angle corresponding to the position sensor in the servo under test based on the relationship curve of angle and time to obtain valid angle data; and determining whether the output angle corresponding to the position sensor is linear based on the valid angle data. The present disclosure can solve the problem that an external sensor and a fixture are required when detecting the linearity of the sensor which causes complicated operation, high detection cost, and low detection efficiency.