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公开(公告)号：US11511437B2
公开(公告)日：2022-11-29
申请号：US16923069
申请日：2020-07-07
发明人： Marten Byl , Chengkun Zhang , Raymond Ma , Muhammed Rasid Pac , Huan Tan , Youjun Xiong
IPC分类号： B25J11/00 , B25J5/00 , B65G1/02 , B65G61/00 , B25J9/16 , B25J9/10 , B25J9/12 , B25J19/00 , B25J9/00 , B25J19/02 , G05D1/02
摘要： A wheeled base includes a housing, two driven wheeled mechanisms positioned on a bottom of the housing and on opposite sides of the housing, at least one passive wheel positioned on the bottom of the housing, actuated feet positioned on the bottom of the housing and configured to move up and down, sensors, and a battery pack arranged within the housing. The two driven wheeled mechanisms each includes a damping mechanism, and each damping mechanism includes at least two dampers configured to absorb impact caused by an upward movement of the housing, and absorb impact caused by a downward movement of the housing.
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92.发明申请公开(公告)号：US20220362929A1
公开(公告)日：2022-11-17
申请号：US17868790
申请日：2022-07-20
发明人： Yijie Guo , Mingguo Zhao , Youjun Xiong
IPC分类号： B25J9/16
摘要： A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.
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公开(公告)号：US11501082B2
公开(公告)日：2022-11-15
申请号：US16734389
申请日：2020-01-05
发明人： Li Ma , Weixing Xiong , Youjun Xiong
IPC分类号： G06F40/30 , G06F16/31 , G06F16/35 , G06F40/205
摘要： The present disclosure provides a sentence generation method as well as a sentence generation apparatus and a smart device. The method includes: obtaining an input sentence; searching for structurally similar sentence(s) of each input sentence, where the structurally similar sentence(s) are structurally similar to the input sentence; finding semantically similar sentence(s) of the structurally similar sentence(s); parsing the input sentence and the structurally similar sentence(s) to obtain a subject block, a predicate block, and an object block to rewrite the semantically similar sentences to generate a new sentence; filtering the new sentence based on a preset filtering condition; and labeling the filtered new sentence as a semantically similar sentence of the input sentence. In this manner, a plurality of new sentences with different sentence patterns can be generated based on the same input sentence, which improves the controllability in generating the sentences and saves the labor cost therein.
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公开(公告)号：US11498227B2
公开(公告)日：2022-11-15
申请号：US16709931
申请日：2019-12-11
发明人： Yongsheng Zhao , Zhichao Liu , Youjun Xiong
摘要： The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.
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公开(公告)号：US20220324106A1
公开(公告)日：2022-10-13
申请号：US17702819
申请日：2022-03-24
发明人： Zhihao Zhang , Yizhang Liu , Jinliang Chen , Youjun Xiong
IPC分类号： B25J9/16
摘要： A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.
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公开(公告)号：US11440198B2
公开(公告)日：2022-09-13
申请号：US16861200
申请日：2020-04-28
摘要： A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.
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公开(公告)号：US11422261B2
公开(公告)日：2022-08-23
申请号：US16699750
申请日：2019-12-02
发明人： Zhichao Liu , Youjun Xiong
摘要： The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.
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公开(公告)号：US11416719B2
公开(公告)日：2022-08-16
申请号：US17012016
申请日：2020-09-03
发明人： Chenchen Jiang , Zhichao Liu , Yongsheng Zhao , Yu Tang , Jianxin Pang , Youjun Xiong
摘要： The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.
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公开(公告)号：US20220184807A1
公开(公告)日：2022-06-16
申请号：US17137431
申请日：2020-12-30
发明人： Jie Bai , Chunyu Chen , Ligang Ge , Yizhang Liu , Youjun Xiong
IPC分类号： B25J9/16
摘要： The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.
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公开(公告)号：US11346648B2
公开(公告)日：2022-05-31
申请号：US16626519
申请日：2018-12-29
发明人： Xi Bai , Wenhua Fan , Malin Wang , Youjun Xiong
IPC分类号： G01B5/24 , H02P21/18 , G05B19/416
摘要： 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.
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