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公开(公告)号：US20220343530A1
公开(公告)日：2022-10-27
申请号：US17239697
申请日：2021-04-26
Inventor： Dan Shao , Dejun Guo , Zhen Xiu , Chuqiao Dong , Huan Tan
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.
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公开(公告)号：US20220324106A1
公开(公告)日：2022-10-13
申请号：US17702819
申请日：2022-03-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhihao Zhang , Yizhang Liu , Jinliang Chen , Youjun Xiong
IPC: B25J9/16
Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.
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公开(公告)号：US11440198B2
公开(公告)日：2022-09-13
申请号：US16861200
申请日：2020-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Houzhu Ding , Mohammad Iman Mokhlespour Esfahani , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.
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公开(公告)号：US11422261B2
公开(公告)日：2022-08-23
申请号：US16699750
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.
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公开(公告)号：US11416719B2
公开(公告)日：2022-08-16
申请号：US17012016
申请日：2020-09-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Zhichao Liu , Yongsheng Zhao , Yu Tang , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.
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Patent Agency Ranking
公开(公告)号：US11406185B1
公开(公告)日：2022-08-09
申请号：US17358038
申请日：2021-06-25
Inventor： Luis Alfredo Mateos Guzman , Chengkun Zhang
IPC: A47B88/457 , F16H19/04
Abstract: According to one aspect, an actuator of a robotic drawer is disclosed. The actuator may include a plurality of articulation components that form an articulated rack. The actuator may include a plurality of pins each coupled to an exterior of one of the plurality of articulation components. The actuator may include a transformer box coupled to a pinion and configured to move along an exterior of the articulated rack as the pinion moves along the surface. The transformer box may include a first guide configured to apply a first force to an arm of each of the pins as the transformer box moves in a first direction. The first force may cause the pin to rotate in a first rotational direction until the arm is fitted into a cam of the articulated rack such that adjacent articulation components are held in a fixed position, causing the articulated rack to extend.
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147.发明申请公开(公告)号：US20220206501A1
公开(公告)日：2022-06-30
申请号：US17462019
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Yizhang Liu , Ligang Ge , Hongge Wang , Jie Bai , Jiangchen Zhou , Zheng Xie
Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.
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公开(公告)号：US20220184807A1
公开(公告)日：2022-06-16
申请号：US17137431
申请日：2020-12-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Chunyu Chen , Ligang Ge , Yizhang Liu , Youjun Xiong
IPC: B25J9/16
Abstract: The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.
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公开(公告)号：US20220184799A1
公开(公告)日：2022-06-16
申请号：US17547274
申请日：2021-12-10
Applicant: Ubtech Robotics Corp Ltd
Inventor： Hongyu Ding , Yisen Hu , Jian Li
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.
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公开(公告)号：US11346648B2
公开(公告)日：2022-05-31
申请号：US16626519
申请日：2018-12-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xi Bai , Wenhua Fan , Malin Wang , Youjun Xiong
IPC: G01B5/24 , H02P21/18 , G05B19/416
Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.
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