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公开(公告)号：US12285870B2
公开(公告)日：2025-04-29
申请号：US18070313
申请日：2022-11-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Ligang Ge , Yizhang Liu , Jiangchen Zhou , Qiuyue Luo , Youjun Xiong
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.
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公开(公告)号：US12277801B2
公开(公告)日：2025-04-15
申请号：US17566734
申请日：2021-12-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenghao Qian , Miaochen Guo , Jun Cheng , Jianxin Pang
Abstract: A gesture recognition method includes: acquiring a target image containing a gesture to be recognized; inputting the target image to a gesture recognition model that has a first sub-model, a second sub-model, and a third sub-model, the first sub-model is to determine a gesture category and a gesture center point, the second sub-model is to determine an offset of the gesture center point, and the third sub-model is to determine a length and a width of a bounding box for the gesture to be recognized; acquiring an output result from the gesture recognition model, the output result includes the gesture category, the gesture center point, and the offset of the gesture center point, and the length and the width of the bounding box; and determining the gesture category and a position of the bounding box of the gesture to be recognized according to the output result.
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公开(公告)号：US12250929B2
公开(公告)日：2025-03-18
申请号：US18381181
申请日：2023-10-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jin Li , Yudong Liu , Xinshui Huang , Xianglong Li , Jun Li
Abstract: A pet feeder includes: a housing, a heat conduction member, a temperature adjustment structure and a heat dissipation member that are arranged in the housing, a tray, a cover, and an actuating mechanism. The temperature adjustment structure includes a thermoelectric cooling member and a control module. The thermoelectric cooling member includes a first side connected to the heat conduction member and a second side in contact with the heat dissipation member. The control module is to control the first side of the thermoelectric cooling member to heat or cool. The tray is arranged in the housing and connected to the heat conduction member, and defines two compartments for placing pet food. The cover is arranged on the tray and defines a window in communication with the at least two compartments. The actuating mechanism is arranged in the housing and is to rotate the tray or the cover.
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公开(公告)号：US12186909B2
公开(公告)日：2025-01-07
申请号：US18075450
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xianwen Zeng , Yizhang Lìu , Xuan Luo , Youjun Xiong
IPC: B25J9/16
Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter; obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.
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公开(公告)号：US12171188B2
公开(公告)日：2024-12-24
申请号：US17887536
申请日：2022-08-15
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kexin Tian , Yangming Qian , Jin Li , Yanhui Chai
IPC: A01K1/01
Abstract: A pet litter device includes: a base configured to be placed on a support surface, the base defining a recessed portion that comprises a recess surface defining an opening, and a drum rotatably connected to the base and partly received in the recessed portion. The drum has an outer lateral surface. The recess surface and a portion of the outer lateral surface that faces the recess surface define a gap and form a passage in communication with the opening. The recess surface is to guide litter particles entering the passage to pass through the opening to fall on the support surface.
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Patent Agency Ranking
96.发明授权公开(公告)号：US12122468B2
公开(公告)日：2024-10-22
申请号：US17562985
申请日：2021-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Ligang Ge , Yizhang Liu , Jie Bai , Chunyu Chen , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
IPC: B62D57/032 , B25J9/16
CPC classification number: B62D57/032 , B25J9/1664
Abstract: A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.
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公开(公告)号：US20240331173A1
公开(公告)日：2024-10-03
申请号：US18603100
申请日：2024-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： BAIYU PAN , Jianxin Pang
CPC classification number: G06T7/50 , G06V10/7715 , G06V10/82 , G06T2207/20228
Abstract: A method for binocular depth estimation is provided, including: obtaining binocular images and performing feature extraction on the binocular images to obtain left and right feature mappings; performing disparity construction by using the left and right feature mappings to obtain a disparity cost volume with a reduced dimension; performing attention feature learning on the disparity cost volume to obtain an attention feature vector and performing feature weighting on the disparity cost volume by using the attention feature vector to obtain a weighted cost volume; performing disparity regression on the weighted cost volume based on a two-dimensional convolution to obtain a prediction disparity map; and performing disparity depth conversion on the prediction disparity map to obtain a depth map of the binocular images.
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公开(公告)号：US12099371B2
公开(公告)日：2024-09-24
申请号：US17338874
申请日：2021-06-04
CPC classification number: G05D1/0891 , G01C22/00 , G01S17/89 , G05D1/0088 , G05D1/0212 , G05D1/08
Abstract: Embodiments of the disclosure provide methods and systems for continuous regulation of a nonholonomic mobile robot. An exemplary method may include identifying a current pose of the nonholonomic mobile robot in a world frame, where the current pose is represented by a first set of values defining a first set of states of the nonholonomic mobile robot in the world frame; receiving a final goal pose of the nonholonomic mobile robot, where the final goal pose is represented by a second set of values defining a second set of states of nonholonomic mobile robot in the world frame; determining a moving path for moving the nonholonomic mobile robot from the current pose to the final goal pose; and controlling the nonholonomic mobile robot to move from the current pose to the final goal pose according to the moving path, where the nonholonomic mobile robot moves to the final goal pose by converging the nonholonomic mobile robot from the first set of states to the second set of states simultaneously.
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公开(公告)号：US20240286282A1
公开(公告)日：2024-08-29
申请号：US18395309
申请日：2023-12-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YULONG GU , Youjun Xiong , Simin Zhang , Yun Zhao
CPC classification number: B25J9/1661 , B25J9/161 , B25J9/1653 , B25J19/022
Abstract: A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.
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公开(公告)号：USD1038846S1
公开(公告)日：2024-08-13
申请号：US29897363
申请日：2023-07-14
Applicant: UBTECH ROBOTICS CORP LTD , Futronics (NA) Corporation
Designer： Sichao Zhong , Qianshan Li , Chengkun Zhang , Kun Xie , Huan Tan
Abstract: FIG. 1 is a first perspective view of an electric wheelchair showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof; and,
FIG. 8 is a bottom plan view thereof.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.
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