公开(公告)号：US20250072691A1

公开(公告)日：2025-03-06

申请号：US18911202

申请日：2024-10-09

Applicant: Best Epoch Technology Co., LTD ,  UBTECH ROBOTICS CORP LTD

Inventor： MENG LI ,  Xiangbin Huang ,  Liuchen Yang ,  Gaobo Huang

IPC: A47L11/40 ,  G01C21/00

Abstract: A method for docking a cleaning robot includes: obtaining a map of a scene where the cleaning robot is located, and a position of the cleaning robot in the map; determining a map contour where the position of the cleaning robot is located according to the map; determining a plurality of traversal points for searching for a charging station and a plurality of traversal areas corresponding to the plurality of traversal points according to the map contour; and searching for the charging station in the traversal areas corresponding to the traversal points according to a predetermined search order, until the charging station is found in the traversal areas, or the traversal areas corresponding to all of the traversal points have been searched.

公开(公告)号：US12202131B2

公开(公告)日：2025-01-21

申请号：US18588055

申请日：2024-02-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongkui Huang ,  Hongyu Ding ,  Xuchao Du ,  Zheng Xie ,  Wenhua Fan

IPC: B25J17/02

Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising two, opposite open ends; a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively; an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member; a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide; a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide.

公开(公告)号：US12138803B2

公开(公告)日：2024-11-12

申请号：US18089588

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.

公开(公告)号：US12134194B2

公开(公告)日：2024-11-05

申请号：US17710949

申请日：2022-03-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/032

Abstract: A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.

公开(公告)号：US12094084B2

公开(公告)日：2024-09-17

申请号：US17388043

申请日：2021-07-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Bin Sun ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06T5/20 ,  G06F7/24 ,  G06T5/50

CPC classification number: G06T5/20 ,  G06F7/24 ,  G06T5/50 ,  G06T2207/20021 ,  G06T2207/20221

Abstract: Image processing methods are provided. One of the method includes: obtaining a to-be-processed multi-channel feature maps; obtaining multi-channel first output feature maps and multi-channel second output feature maps by processing the multi-channel feature maps through a parallel pointwise convolution and non-pointwise operation, where the non-pointwise convolution is for descripting a spatial feature of each channel and an information exchange between the feature maps; and fusing the multi-channel first output feature maps and the multi-channel second output feature maps to obtain a multi-channel third output feature map.

公开(公告)号：US20240290096A1

公开(公告)日：2024-08-29

申请号：US18422046

申请日：2024-01-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kan Wang ,  Shuping Hu ,  Jianxin Pang ,  Huan Tan

IPC: G06V20/40 ,  G06V10/77 ,  G06V10/80

CPC classification number: G06V20/46 ,  G06V10/7715 ,  G06V10/806

Abstract: A method for extracting video frame features includes: obtaining a number of initial features of each video frame in a video sequence; calculating global channel attention information of the video sequence based on the initial features of each video frame in the video sequence; calculating local channel attention information of a target video frame according to initial features of a target video frame; wherein the target video frame is one of the video frames in the video sequence; and performing channel attention mechanism processing on the initial features of the target video frame according to the global channel attention information and the local channel attention information to obtain optimized features of the target video frame.

公开(公告)号：US12070856B2

公开(公告)日：2024-08-27

申请号：US17557076

申请日：2021-12-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongge Wang ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Xingxing Ma ,  Jiangchen Zhou

IPC: B25J9/16 ,  B62D57/02 ,  G05B19/41 ,  G05B19/4155

CPC classification number: B25J9/1605 ,  B25J9/1633 ,  B62D57/022 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A robot balance control method as well as a robot using the same and a computer readable storage medium are provided. In the method, a brand new flywheel model different from the existing flywheel model is created. In this flywheel model, the foot of the support leg of the robot is equivalent to the massless link of the flywheel model, while rest parts of the robot are equivalent to the flywheel of the flywheel model. Compared with the various models in the prior art, this flywheel model is more in line with the actual situation of the robot during the monoped supporting period. By controlling the posture of the foot of the support leg based on this flywheel model, a better balance effect can be achieved, which avoids the overturning of the robot.

公开(公告)号：US12051263B2

公开(公告)日：2024-07-30

申请号：US17364806

申请日：2021-06-30

Applicant: Futronics (NA) Corporation ,  UBTECH ROBOTICS CORP LTD

Inventor： Chuqiao Dong ,  Dan Shao ,  Zhen Xiu ,  Dejun Guo ,  Huan Tan

IPC: G06T7/11 ,  G06T7/187 ,  G06T7/40 ,  G06T7/73 ,  G06V10/764 ,  G06V40/10

CPC classification number: G06V40/103 ,  G06T7/11 ,  G06T7/40 ,  G06T7/73 ,  G06T2207/10028

Abstract: Human lying posture detections are disclosed. A human lying on a bed is detected by obtaining an image through a depth camera, detecting objects in the image and marking the objects in the image using 2D bounding boxes by deep learning, determining the human being in a lying posture in response to a width and a height of the 2D bounding box of the human meeting a predetermined condition, detecting one or more skin areas in the image and generating skin area 2D bounding boxes to mark each of the one or more skin areas using a skin detection algorithm, and determining the human being in the lying posture in response to the skin area 2D bounding boxes and the 2D bounding box of the bed meeting a predetermined positional relationship.

公开(公告)号：US11969890B2

公开(公告)日：2024-04-30

申请号：US17584398

申请日：2022-01-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ziyi Wang ,  Guoping Yang ,  Hao Dong

IPC: B25J9/16 ,  G05B15/02 ,  H04L67/125

CPC classification number: B25J9/161 ,  G05B15/02 ,  H04L67/125

Abstract: A control method and a control system using the same as are provided. The method includes: extracting a corresponding component data from a component data stream based on an application protocol registered by each of a plurality of applications and encapsulating a corresponding application data packet for the application in response to receiving the component data stream in a current control period; transmitting the corresponding application data packet to each of the applications; obtaining control data reported by each of the applications according to data reporting timing corresponding to the application; and generating a component control instruction for controlling each of the components according to the control data reported by each of the applications in the current control period and the application protocol registered by the application. In this manner, the orderly control of a smart devices within a limited control period can be achieved.

公开(公告)号：US11945528B2

公开(公告)日：2024-04-02

申请号：US17134147

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/02 ,  B62D57/032

CPC classification number: B62D57/032

Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.