公开(公告)号：US20210334524A1

公开(公告)日：2021-10-28

申请号：US17118578

申请日：2020-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Miaochen Guo ,  Jingtao Zhang ,  Shuping Hu ,  Dong Wang ,  Zaiwang Gu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06T7/64 ,  G06T7/73 ,  H04N1/60 ,  G06K9/62 ,  G06T5/00 ,  G06K9/46 ,  G06T7/90 ,  G06K9/20

Abstract: The present disclosure provides a gesture recognition method as well as a terminal device and a computer-readable storage medium using the same. The method includes: obtaining a video stream collected by an image recording device in real time; performing a hand recognition on the video stream to determine static gesture information of a recognized hand in each video frame of the video stream; encoding the static gesture information in the video frames of the video stream in sequence to obtain an encoded information sequence of the recognized hands; and performing a slide detection on the encoded information sequence using a preset sliding window to determine a dynamic gesture category of each recognized hand. In this manner, static gesture recognition and dynamic gesture recognition are effectively integrated in the same process. The dynamic gesture recognition is realized through the slide detection of the sliding window without complex network calculations.

公开(公告)号：US11059173B2

公开(公告)日：2021-07-13

申请号：US16236518

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jianxin Pang ,  Lifu Zhang ,  Wenhua Fan ,  Dong Liu

IPC: B25J9/16

Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.

公开(公告)号：US11059170B2

公开(公告)日：2021-07-13

申请号：US16359965

申请日：2019-03-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Gaobo Huang ,  Hailang Zhou ,  Musen Zhang

IPC: B25J9/16 ,  B25J9/12

Abstract: The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.

公开(公告)号：US20210200223A1

公开(公告)日：2021-07-01

申请号：US16817565

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： XIANGBIN HUANG ,  Musen Zhang ,  Wenzhi Xu ,  Youjun Xiong

IPC: G05D1/02

Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.

公开(公告)号：US20210200190A1

公开(公告)日：2021-07-01

申请号：US17115735

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G05B19/4155 ,  G06N3/08 ,  G06K9/62 ,  G06K9/00

Abstract: The present disclosure provides action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting at least a two-dimensional image of a to-be-imitated object; obtaining two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and a pairing relationship between the key points of the to-be-imitated object; converting the two-dimensional coordinates of the key points of the to-be-imitated object in the two-dimensional image into space three-dimensional coordinates corresponding to the key points of the to-be-imitated object through a pre-trained first neural network model, and generating an action control instruction of a robot based on the space three-dimensional coordinates corresponding to the key points of the to-be-imitated object and the pairing relationship between the key points, where the action control instruction is for controlling the robot to imitate an action of the to-be-imitated object.

公开(公告)号：US20210199183A1

公开(公告)日：2021-07-01

申请号：US16941579

申请日：2020-07-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LIANG HUANG ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

IPC: F16H21/54 ,  B25J9/12 ,  B25J17/00

Abstract: A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

公开(公告)号：US20210197379A1

公开(公告)日：2021-07-01

申请号：US17115712

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

公开(公告)号：US20210197372A1

公开(公告)日：2021-07-01

申请号：US17134155

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wei He ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/00

Abstract: An identification (ID) number setting method for a modular device that comprises a master building element and a plurality of slave building elements that are connected to the master building element, includes: disconnecting the slave building elements from the master building element; setting ID numbers of all of the slave building elements to be a preset ID number; and assigning new ID numbers to slave building elements of N tiers that are connected to one output interface of the master building element in an order from first tier to Nth tier, wherein the slave building elements of the first tier are slave building elements that are directly connected to the output interface, the slave building elements of the Nth tier are slave building elements that are indirectly connected to the output interface through slave building elements of a (N−1)th tier, N is a natural number greater than 1.

公开(公告)号：US20210190513A1

公开(公告)日：2021-06-24

申请号：US16843923

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: G01C21/32 ,  G05D1/02

Abstract: The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.

公开(公告)号：US20210181748A1

公开(公告)日：2021-06-17

申请号：US17120232

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/02 ,  G01L5/16 ,  B62D57/02 ,  G05B19/4155

Abstract: A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.