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公开(公告)号：US10717188B2
公开(公告)日：2020-07-21
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：US20200209880A1
公开(公告)日：2020-07-02
申请号：US16427362
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Hongjian Liu , Zhanjia Bi , Jianxin Pang
Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle in of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.
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公开(公告)号：US20200209876A1
公开(公告)日：2020-07-02
申请号：US16396783
申请日：2019-04-29
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： Yongsheng Zhao , Youjun Xiong , Longbiao Bai , Jianxin Pang
Abstract: The present disclosure provides a positioning method and an apparatus with the same. The method includes: obtaining, by die sensor set, current track node information of a current track node of a map on which the to-be-positioned device is located, where the current track node information includes a color of the current track node; and determining position information of the to-be-positioned device based on the track node information. In the above manner, the positioning of the to-be-positioned device in a specific map can be realized.
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公开(公告)号：US20200206955A1
公开(公告)日：2020-07-02
申请号：US16370891
申请日：2019-03-30
Applicant: UBTECH Robotics Corp
Inventor： Sicong Liu , Youjun Xiong , Hongyu Ding , Qidong Xu , Jianxin Pang
Abstract: A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.
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公开(公告)号：US20200206942A1
公开(公告)日：2020-07-02
申请号：US16669554
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YUESONG WANG , YOUJUN XIONG
Abstract: The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.
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Patent Agency Ranking
公开(公告)号：US20200156721A1
公开(公告)日：2020-05-21
申请号：US16452532
申请日：2019-06-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Chunyu Chen , Yizhang Liu , Ligang Ge , Jianxin Pang
IPC: B62D57/032
Abstract: The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feel of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.
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公开(公告)号：US10529323B2
公开(公告)日：2020-01-07
申请号：US15712072
申请日：2017-09-21
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lin Chen
IPC: G10L15/18 , G10L15/22 , G06F16/242 , G06F17/27
Abstract: The present disclosure relates to a semantic processing method of robots, including: receiving, by a semantic processing platform, a voice request from a robot, performing a sematic analysis on the voice request to obtain a current sematic intention, determining whether a response matching the current semantic intention is stored in a database, obtaining the response from the database if determining that the response is stored in the database, obtaining the response by accessing a third-party application corresponding to the current semantic intention if determining that the response is not stored in the database, and transmitting the response to the robot to guide the robot to perform a corresponding action. The present disclosure further provides a semantic processing device.
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公开(公告)号：US20200005487A1
公开(公告)日：2020-01-02
申请号：US16416281
申请日：2019-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Youjun Xiong , Zhichao Liu
Abstract: The present disclosure provides a positioning method and a robot using the same. The method includes: obtaining, through the visual sensor, a current frame image; obtaining, through the ultra-wideband tag, distance of a robot from an ultra-wideband anchor; performing a feature matching on the current frame image and an adjacent frame image to generate partial map point(s); determining whether the current frame image is a key frame image; and optimizing a pose of the visual sensor corresponding to the key frame image through a joint objective function in response to the current frame image being the key frame image, where the joint objective function at least comprises a distance cost function of the ultra-wideband anchor and a visual residual cost function. Through the above-mentioned method, the accuracy of the positioning of the robot can be improved.
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公开(公告)号：US10485124B2
公开(公告)日：2019-11-19
申请号：US15640583
申请日：2017-07-03
Applicant: UBTECH Robotics Corp.
Inventor： Wenhua Yu , Youjun Xiong
Abstract: A cable management structure for managing a connection cable in a robot includes a head structure, a waist structure and a base. The waist structure includes a rotating member, a rotating assembly and a fixed assembly. The rotating assembly is rotatably connected to the fixed assembly. The rotating member, the rotating assembly and the fixed assembly are coaxial. The rotating member defines a through hole. The rotating assembly is connected to the head structure and defines a passage communicating with the through hole. The fixed assembly is connected to the base. The base includes a main circuit board, and the main circuit board is located below the through hole. The connection cable includes a first end connected to the main circuit board and a second, opposite end passing through the through hole and the passage and extending into the head structure.
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公开(公告)号：US10447992B1
公开(公告)日：2019-10-15
申请号：US16104143
申请日：2018-08-17
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Cihui Pan , Shengqi Tan , Xianji Wang , Jianxin Pang
IPC: H04N13/221 , G06T1/00 , H04N13/296 , G06T7/174 , H04N13/00
Abstract: The present disclosure discloses a method and a system for image processing. The method includes: obtaining images of a target environment captured by a robot in a preset movement trajectory according to a predefined condition; combining every two of the images having a same region into a corresponding image pair based on an initial position estimation of each of the images; producing an image seed based on the image pair; performing position optimization on the image seed; producing an image subset based on the image seed after the position optimization; and performing position optimization on the image subset based on the image seeds in the image subset. It can effectively reduce the computational complexity of image matching, reduce the calculation time, and improve the accuracy of image processing.
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