公开(公告)号：US11759945B2

公开(公告)日：2023-09-19

申请号：US17547274

申请日：2021-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongyu Ding ,  Yisen Hu ,  Jian Li

IPC: B25J9/12 ,  B25J9/10 ,  B25J13/08

CPC classification number: B25J9/102 ,  B25J9/108 ,  B25J9/126 ,  B25J13/088

Abstract: A dual-output-shaft servo includes a housing including two first sensors and two actuating mechanisms. Each actuating mechanism includes a motor assembly, a speed reduction mechanism opposite the motor assembly, and a transmission mechanism arranged between the motor assembly and the speed reduction mechanism. The speed reduction mechanism includes an output component, and a connection shaft is fixed to the output component. A first sensor counterpart is attached to an end of the connection shaft which faces the motor assembly. The transmission mechanism is to transmit mechanical power from the motor assembly to the speed reduction mechanism. The axes of rotation of the output components of the speed reduction mechanisms are skew or intersected with each other.

公开(公告)号：US20230288526A1

公开(公告)日：2023-09-14

申请号：US18088755

申请日：2022-12-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YU TANG ,  Mingqiang Huang ,  Dunhao Liu ,  Tiecheng Sun ,  Jichao Jiao

IPC: G01S5/02

CPC classification number: G01S5/02525 ,  G01S5/0244

Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.

公开(公告)号：US11734850B2

公开(公告)日：2023-08-22

申请号：US17239697

申请日：2021-04-26

Applicant: UBKang (Qingdao) Technology Co., Ltd.

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

IPC: G06T7/70 ,  G06T7/50 ,  G06T7/194 ,  G05D1/02

CPC classification number: G06T7/70 ,  G05D1/0251 ,  G06T7/194 ,  G06T7/50 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: On-floor obstacle detection using an RGB-D camera is disclosed. An obstacle on a floor is detected by receiving an image including depth channel data and RGB channel data through the RGB-D camera, estimating a ground plane corresponding to the floor based on the depth channel data, obtaining a foreground of the image corresponding to the ground plane based on the depth channel data, performing a distribution modeling on the foreground of the image based on the RGB channel data to obtain a 2D location of the obstacle, and transforming the 2D location of the obstacle into a 3D location of the obstacle based on the depth channel data.

公开(公告)号：US11710277B2

公开(公告)日：2023-07-25

申请号：US17482450

申请日：2021-09-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Mingqiang Huang ,  Zhichao Liu ,  Youfang Lai ,  Yun Zhao

IPC: G06T19/00 ,  G06T19/20 ,  G06T15/50 ,  G06F16/29 ,  G06T7/73

CPC classification number: G06T19/003 ,  G06F16/29 ,  G06T7/73 ,  G06T15/50 ,  G06T19/20 ,  G06T2207/30244 ,  G06T2219/2004

Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.

公开(公告)号：US20230191604A1

公开(公告)日：2023-06-22

申请号：US18071462

申请日：2022-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Qiuyue Luo ,  Jiangchen Zhou ,  Meng Yan ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1664 ,  B25J9/1605 ,  G05B19/4155 ,  G05B2219/50391

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.

公开(公告)号：US20230166400A1

公开(公告)日：2023-06-01

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

CPC classification number: B25J9/163 ,  B25J9/1653 ,  B25J9/1664

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.

公开(公告)号：US20230130977A1

公开(公告)日：2023-04-27

申请号：US18089614

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xianwen Zeng ,  Yizhang Liu ,  Meihui Zhang ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.

公开(公告)号：US11617705B2

公开(公告)日：2023-04-04

申请号：US17530501

申请日：2021-11-19

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Inventor： Houzhu Ding ,  Armen Gardabad Ohanian ,  Brandon Jon LaPlante ,  Chengkun Zhang ,  Zhen Xiu ,  Huan Tan

IPC: F16M11/00 ,  A61H3/04 ,  B25J5/00 ,  B25J11/00

Abstract: A robotic assistant includes a wheeled base, a body positioned on the base, a foldable seat rotatably connected to the body, an actuator to rotate the foldable seat with respect to the body, and a control system that receives command instructions. The actuator is electrically coupled to the control system. In response to the command instructions, the control system is to control the actuator to rotate the foldable seat to a folded position or an unfolded position. The control system is further to detect whether an external force from a user has applied to the foldable seat, and release the actuator to allow the foldable seat to be manually rotated.

公开(公告)号：US20230101489A1

公开(公告)日：2023-03-30

申请号：US17553758

申请日：2021-12-16

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yizhang Liu ,  Youjun Xiong ,  Xuan Luo ,  Xianwen Zeng ,  Ligang Ge ,  Chunyu Chen

IPC: B25J9/16

Abstract: A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.

公开(公告)号：US11602844B2

公开(公告)日：2023-03-14

申请号：US17192906

申请日：2021-03-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Mingguo Zhao ,  Youjun Xiong

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

Abstract: A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.