公开(公告)号：US20210166416A1

公开(公告)日：2021-06-03

申请号：US17107860

申请日：2020-11-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Shuping Hu ,  Jun Cheng ,  Jingtao Zhang ,  Miaochen Guo ,  Dong Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: G06T7/73 ,  B25J9/16 ,  G06T7/12 ,  G06T7/50

Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.

公开(公告)号：US10942502B2

公开(公告)日：2021-03-09

申请号：US16581791

申请日：2019-09-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Jianxin Pang

IPC: G05B19/23 ,  G05B19/4062

Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.

公开(公告)号：US20200206936A1

公开(公告)日：2020-07-02

申请号：US16535108

申请日：2019-08-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Hanyu Sun ,  Lifu Zhang ,  Wenhua Fan ,  Zhongliang Wang ,  Yongping Zeng ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.

公开(公告)号：US20200206927A1

公开(公告)日：2020-07-02

申请号：US16427349

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Jian Zhang ,  Yongsheng Zhao ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocal i/at ion result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.