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公开(公告)号：US20190206117A1
公开(公告)日：2019-07-04
申请号：US16231978
申请日：2018-12-25
Applicant: UBTECH ROBOTICS CORP.
Inventor： Youjun XIONG , Shengqi Tan , Cihui Pan , Xianji Wang , Jianxin Pang
CPC classification number: G06T15/205 , G06T5/002 , G06T5/50 , G06T7/194 , G06T2207/10028 , G06T2207/20221
Abstract: The present disclosure provides an image processing method, an intelligent terminal, and a storage device. The image processing method may include: obtaining an original image, and obtaining mask information of a target object from the original image, wherein the mask information includes classification information for foreground and background of the target object; denoising the original image to obtain a denoised image of the original image; and obtaining a target image from the denoised image according to the mask information of the target object. The present disclosure can improve the quality of the image by denoising the original image, and the obtained target image can be a minimum-sized image including all the information of the target object. Because the size of the image is reduced without losing valid information, the calculation amount of the 3D synthesis can be greatly reduced.
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公开(公告)号：US20200001462A1
公开(公告)日：2020-01-02
申请号：US16236526
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun XIONG , Xiangbin Huang , Musen Zhang , Peng Nie , Hailang Zhou
IPC: B25J9/16
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.
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公开(公告)号：US20230166400A1
公开(公告)日：2023-06-01
申请号：US17994394
申请日：2022-11-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： XIANWEN ZENG , Yizhang LIU , Youjun XIONG
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1653 , B25J9/1664
Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a linear motion model of a robot; determining a predicted state corresponding to each moment in a preset time period based on the linear motion model; determining an expected state corresponding to each moment in the preset time period; and determining a compensation value of a velocity of joint(s) at each moment from k-th moment to k+N−1-th moment based on the predicted state corresponding to each moment in the preset time period and the expected state corresponding to each moment in the preset time period, determining instruction parameter(s) at the k-th moment based on the compensation value of the velocity of the joint(s) at the k-th moment, and adjusting a position of each of the joint(s) of the robot according to the instruction parameter(s) at the k-th moment.
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4.发明申请公开(公告)号：US20220203526A1
公开(公告)日：2022-06-30
申请号：US17504544
申请日：2021-10-19
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie BAI , Ligang GE , Yizhang LIU , Youjun XIONG
Abstract: A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.
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公开(公告)号：US20210191421A1
公开(公告)日：2021-06-24
申请号：US16935234
申请日：2020-07-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui GUO , Chenchen JIANG , Kun XIE , Zhichao LIU , Youjun XIONG , Jianxin PANG
Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).
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Patent Agency Ranking
公开(公告)号：US20190351545A1
公开(公告)日：2019-11-21
申请号：US16231945
申请日：2018-12-25
Applicant: UBTECH ROBOTICS CORP.
Inventor： Youjun XIONG , Ruohu YANG , Yidan WANG
IPC: B25J9/16
Abstract: A cluster control method, a cluster control system, and a terminal device are provided. The method includes: assigning, by a first control terminal, cluster identifications to itself and controlled terminals; sending, by the first control terminal, control instructions to corresponding controlled terminals and/or itself according to the assigned IDs when the first control terminal receives information feedbacked by all the controlled terminals and itself and denoting that ID assignments succeed, wherein the control instructions instruct the corresponding controlled terminals and/or itself to perform corresponding actions. Because the first control terminal sends control instructions to the controlled terminals and/or itself after receiving information feedbacked by the controlled terminals and itself and denoting that ID assignments succeed, and because when the first control terminal fails a second control terminal can update to be a first control terminal, effective and reliable communication between the control terminal and the controlled terminals may be ensured.
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公开(公告)号：US20190168126A1
公开(公告)日：2019-06-06
申请号：US16059041
申请日：2018-08-09
Applicant: UBTECH Robotics Corp
Inventor： Youjun XIONG , Xinpu Chen , Lefeng Liu , Tanfu Xiao
CPC classification number: A63H3/46 , A63H11/00 , A63H13/00 , B25J11/003 , B25J19/0016 , B25J19/0075 , F16F2238/024
Abstract: An assembly for a robot includes a shoulder, an arm rotatably connected to the shoulder, an armor decorative member connected to the arm and located adjacent to the shoulder, and a connection assembly located between and rotatably connected to the arm and the armor decorative member. Relative rotation between the arm and the connection assembly and between the armor decorative member and the connection assembly enables the arm to continue to rotate after an upper end of the armor decorative member comes into contact with the shoulder.
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公开(公告)号：US20200206929A1
公开(公告)日：2020-07-02
申请号：US16727956
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun XIONG , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides duplicate servo ID detection methods and a servo for a robot. One of the method includes: transmitting, by the main controller, a query instruction including a specific servo ID to at least two of the servos of the robot through a bus; differentiating feedback information replied by at least two of the servos corresponding to the specific servo ID; and determining, by the main controller, there being at least two of the servos with the same servo ID, if the feedback information not meeting a predetermined verification rule is received. Through the technical solution provided by this embodiment, the detection of duplicate servo ID can be realized, and the servos on the bus that have the same servo ID can be found so us to remind the user of the robot, thereby guaranteeing the normal operation of the robot.
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公开(公告)号：US20190160657A1
公开(公告)日：2019-05-30
申请号：US16114220
申请日：2018-08-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun XIONG , Kunlei Zhao
Abstract: A spatial crossed-axis transmission mechanism includes a rotatable driving member, an actuating member, and a support member for fixing the driving member and the actuating member. The driving member comprises a first end surface adjacent to the support member, and an Archimedes spiral groove is defined in the first end surface of the driving member. The actuating member includes an end surf adjacent to the support member and a sliding shaft on the end surface of the actuating member. The support member defines a straight groove passing therethrough, and the sliding shaft comprises an end that extends through the straight groove and fits into the Archimedes spiral groove.
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公开(公告)号：US20190091876A1
公开(公告)日：2019-03-28
申请号：US15811725
申请日：2017-11-14
Applicant: UBTECH Robotics Corp
Inventor： Youjun XIONG , Yong FU , Hongyu DING
CPC classification number: B25J15/0213 , B25J15/10 , B25J15/103 , F16H1/206 , F16H1/222 , F16H1/28 , F16H19/001
Abstract: A robotic hand includes a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing. The motor is electrically connected to the PCB. An input end of the planetary gear transmission assembly is connected to an output shaft of the motor, and an output end of the planetary gear transmission assembly includes a helical gear shaft and a number of helical gears that are engaged with the helical gear shaft and the claws. The helical gears correspond to the claws respectively. One end of each of the claws is rotatably connected to the servo housing, and the claws are rotatable toward or away from one another when driven by the helical gears.
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