公开(公告)号：US20230386244A1

公开(公告)日：2023-11-30

申请号：US18078027

申请日：2022-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： SHUPING HU ,  Kan Wang ,  Huan Tan ,  Jianxin Pang

IPC: G06V40/10 ,  G06V10/776 ,  G06V10/74

CPC classification number: G06V40/103 ,  G06V10/776 ,  G06V10/761

Abstract: A person re-identification method, a storage medium, and a terminal device are provided. In the method, a preset ratio-based triplet loss function is used as a loss function during training The ratio-based triplet loss function limits a ratio of a positive sample feature distance to a negative sample feature distance to be less than a preset ratio threshold. The positive sample feature distance is a distance between a reference image feature and a positive sample image feature, and the negative sample feature distance is a distance between the reference image feature and a negative sample image feature. Compared with the existing absolute distance-based triplet loss function, in the case of small inter-class differences and large intra-class differences, the ratio-based triplet loss function can effectively improve the stability of model training, the features extracted by the trained model are more discriminative and robust, thereby improving the accuracy of person re-identification results.

公开(公告)号：US11780085B2

公开(公告)日：2023-10-10

申请号：US17107966

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Mingguo Zhao ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032 ,  B62D57/02

CPC classification number: B25J9/163 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1638 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

公开(公告)号：US20230294281A1

公开(公告)日：2023-09-21

申请号：US18200417

申请日：2023-05-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHE XU ,  Mingguo Zhao ,  Youjun Xiong

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

CPC classification number: B25J9/163 ,  B62D57/032 ,  B25J9/1633 ,  B25J9/1607 ,  B25J13/085

Abstract: A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.

公开(公告)号：US20230285619A1

公开(公告)日：2023-09-14

申请号：US18120990

申请日：2023-03-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHANJIA BI ,  Youjun Xiong ,  Huan Tan

IPC: A61L2/24 ,  G01C21/00 ,  G05D1/02

CPC classification number: A61L2/24 ,  G01C21/3807 ,  G05D1/0212 ,  G05D2201/0203 ,  A61L2202/14 ,  A61L2202/16

Abstract: A navigation method for a disinfection robot includes: obtaining an initial map within a field of view of the robot; generating a disinfection grid having multiple disinfection squares on the initial map, and determining multiple disinfecting consideration points in the disinfection squares; determining a disinfection order of disinfecting targets corresponding to the disinfection squares according to distances between the robot after the robot completes disinfection of one of the targets corresponding to one of the disinfection squares and to-be-disinfected ones of the disinfection squares; according to distances between the position and the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, combined with priority levels of the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, determining disinfecting planning points in the disinfection squares; and performing disinfection to the targets corresponding to the disinfection squares according to the disinfection order and the disinfecting planning points.

公开(公告)号：US11724393B2

公开(公告)日：2023-08-15

申请号：US17137382

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1633

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

公开(公告)号：US20230234655A1

公开(公告)日：2023-07-27

申请号：US18091327

申请日：2022-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Qiuyue Luo ,  Chunyu Chen ,  Xuan Luo ,  Jiangchen Zhou

IPC: B62D57/032 ,  G05D1/02 ,  B25J17/00

CPC classification number: B62D57/032 ,  G05D1/0212 ,  B25J17/00 ,  G05D2201/0217

Abstract: A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.

公开(公告)号：US20230234222A1

公开(公告)日：2023-07-27

申请号：US18129909

申请日：2023-04-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/163 ,  B25J9/1651 ,  B25J9/1607 ,  B25J9/0006

Abstract: A humanoid robot balance control method, a humanoid robot, and a storage medium are provided. The method includes: obtaining a task equation of each of a plurality of deconstructed tasks in a corresponding control cycle by solving a plurality of deconstructed task models using a relevant actual state and a corresponding expected state of the humanoid robot; calculating an optimal solution of a multi-task error optimization function based on each task equation; and generating a joint control instruction of the corresponding control cycle based on the optimal solution in response to the optimal solution being obtained within the corresponding control cycle so as to control corresponding joint(s) to execute the tasks. In such manner, it can ensure that the robot satisfies the necessary constraints while executing multiple tasks, and also comprehensively considers the errors of all the tasks to ensure the execution of all the tasks.

公开(公告)号：US11693430B2

公开(公告)日：2023-07-04

申请号：US17114526

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: G05D1/02 ,  G05D1/08 ,  B62D57/02 ,  G05B19/4155

CPC classification number: G05D1/0891 ,  B62D57/02 ,  G05B19/4155 ,  G05D1/0212 ,  G05B2219/40233

Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.

公开(公告)号：US20230202027A1

公开(公告)日：2023-06-29

申请号：US18090457

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Jie Bai ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1602 ,  B62D57/032

Abstract: A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.

公开(公告)号：US20230191600A1

公开(公告)日：2023-06-22

申请号：US17984215

申请日：2022-11-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： GANG HAN

IPC: B25J9/16

CPC classification number: B25J9/1658

Abstract: A motion control method, a robot, and a computer-readable storage medium are provided. The method includes: calculating a task matrix and expected information of each task of the robot based on reference trajectory information of each task of the robot in a control period and state estimation information of each task of the robot in the control period; calculating a constraint matrix and a boundary of an inequality constraint that the robot needs to satisfy based on the state estimation information; constructing a hierarchical quadratic programming problem with recursive hierarchical projection based on all the information obtained above, a real-time determined weight coefficient of each task, and a real-time determined priority level of each task: and solving the hierarchical quadratic programming problem to obtain a result, and generating a joint control instruction for controlling each joint of the robot to move.