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公开(公告)号：US20210107577A1
公开(公告)日：2021-04-15
申请号：US16724413
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Xianwei Su , Zheng Xie , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.
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公开(公告)号：US20210055739A1
公开(公告)日：2021-02-25
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.
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公开(公告)号：US20200210038A1
公开(公告)日：2020-07-02
申请号：US16699744
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Liming Zhu , Youjun Xiong
IPC: G06F3/0488 , G06T1/60 , G06F3/0484 , H05B45/20
Abstract: The present disclosure provides a robot eye lamp control method as well as an apparatus and a terminal device using the same. The method includes: loading a simulation image corresponding to an cut shape of the eye lamp of the robot onto a display interface of a terminal device remotely connected with the robot; detecting a color setting instruction issued to each color block area in the simulation image by a user, and generating combined parameter information comprising each color value in response to having received a color confirmation instruction issued by the user, and transmitting the combined parameter information to the robot so that the robot performs a light control on the eye lamp based on the combined parameter information. The present disclosure guarantees that the robot will respond to an interactive instruction only when the light display effect and the actual demand of the user matches.
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公开(公告)号：US20200206945A1
公开(公告)日：2020-07-02
申请号：US16556233
申请日：2019-08-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Jianxin Pang , Wanli Zhang , Jingtao Zhang
Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.
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公开(公告)号：US20200206914A1
公开(公告)日：2020-07-02
申请号：US16671164
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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Patent Agency Ranking
公开(公告)号：US10667091B1
公开(公告)日：2020-05-26
申请号：US16396691
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong , Yu Tang
Abstract: The present disclosure provides a wireless positioning method as well as a server and a storage medium with the same. The method includes: obtaining a current ranging value between a first positioning device and a second positioning device, where there is no obstruction between the first positioning device and the second positioning device; determining a distance of the first positioning device and the second positioning device in a depth direction of a tunnel based on the current ranging value; and obtaining a current coordinate of the second positioning device based on the distance. In the above-mentioned manner, the automatic updating of the coordinate of the reference base station in the tunnel can be realized, the times of repeated measurements of the base station are reduced, thereby improving the construction efficiency of the tunnel and saving working loads.
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公开(公告)号：US20200096343A1
公开(公告)日：2020-03-26
申请号：US16396690
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong
Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.
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公开(公告)号：US12275152B2
公开(公告)日：2025-04-15
申请号：US18071462
申请日：2022-11-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ligang Ge , Yizhang Lìu , Chunyu Chen , Qiuyue Luo , Jiangchen Zhou , Meng Yan , Youjun Xiong
IPC: G05B19/4155 , B25J9/16
Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.
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119.发明授权公开(公告)号：US12257725B2
公开(公告)日：2025-03-25
申请号：US17976904
申请日：2022-10-31
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 jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.
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公开(公告)号：US12233550B2
公开(公告)日：2025-02-25
申请号：US17994394
申请日：2022-11-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xianwen Zeng , Yizhang Liu , 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 linear motion model of a robot; determining a predicted state corresponding to each moment in a preset time period based on the linear motion model; determining an expected state corresponding to each moment in the preset time period; and determining a compensation value of a velocity of joint(s) at each moment from k-th moment to k+N−1-th moment based on the predicted state corresponding to each moment in the preset time period and the expected state corresponding to each moment in the preset time period, determining instruction parameter(s) at the k-th moment based on the compensation value of the velocity of the joint(s) at the k-th moment, and adjusting a position of each of the joint(s) of the robot according to the instruction parameter(s) at the k-th moment.
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