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141.发明授权公开(公告)号：US11429810B2
公开(公告)日：2022-08-30
申请号：US16727946
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Weixing Xiong , Youjun Xiong , Hongtao Liao
Abstract: The present invention discloses a question answering method including obtaining a first question and a first category of the first question, combining the first question with each of preset second questions corresponding to the first category to form question groups, inputting the question groups into a trained deep retrieval matching classification model to obtain a first probability of a first classification label of each of the question groups, inputting the first question into a gradient boosting decision model to obtain a second category of the first question, obtaining a second category of the second questions, adjusting the first probability of the first classification label of each of the question groups, according to the second category of the second questions and the second category of the first question in each of the question groups, and outputting a reply according to adjusted first probabilities for solving a problem of low reply accuracy.
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公开(公告)号：US11422567B2
公开(公告)日：2022-08-23
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
IPC: G05D1/02 , G01S13/88 , B25J11/00 , B25J9/16 , B25J19/00 , G01S13/42 , G01S7/48 , G01S17/42 , H02J7/00 , G01S17/88 , B25J19/02 , G01S7/41 , G01S13/931
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：US11420694B2
公开(公告)日：2022-08-23
申请号：US16452532
申请日：2019-06-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Chunyu Chen , Yizhang Liu , Ligang Ge , Jianxin Pang
IPC: B62D57/032
Abstract: The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feet of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.
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公开(公告)号：US20220203534A1
公开(公告)日：2022-06-30
申请号：US17516729
申请日：2021-11-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyn Chen , Ligang Ge , Yizhang Liu , Hongge Wang , Jie Bai , Zheng Xie , Jiangchen Zhou , Meihui Zhang , Shuo Zhang , Youjun Xiong
IPC: B25J9/16 , B62D57/032 , G05D1/02
Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.
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145.发明申请公开(公告)号：US20220194500A1
公开(公告)日：2022-06-23
申请号：US17562985
申请日：2021-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Ligang Ge , Yizhang Liu , Jie Bai , Chunyu Chen , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
IPC: B62D57/032 , B25J9/16
Abstract: A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.
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Patent Agency Ranking
公开(公告)号：US20220189454A1
公开(公告)日：2022-06-16
申请号：US17117148
申请日：2020-12-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Dongyan Huang , Leyuan Sheng , Youjun Xiong
Abstract: A computer-implemented method for speech synthesis, a computer device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a speech text to be synthesized; obtaining a Mel spectrum corresponding to the speech text to be synthesized according to the speech text to be synthesized; inputting the Mel spectrum into a complex neural network, and obtaining a complex spectrum corresponding to the speech text to be synthesized, wherein the complex spectrum comprises real component information and imaginary component information; and obtaining a synthetic speech corresponding to the speech text to be synthesized, according to the complex spectrum. The method can efficiently and simply complete speech synthesis.
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147.发明申请公开(公告)号：US20220152827A1
公开(公告)日：2022-05-19
申请号：US17314039
申请日：2021-05-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Ligang Ge , Hongge Wang , Mingqiang Huang , Jiangchen Zhou , Yizhang Liu , Zheng Xie , Youjun Xiong
IPC: B25J9/16
Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.
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148.发明授权公开(公告)号：US11331802B2
公开(公告)日：2022-05-17
申请号：US16734393
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Zheng Xie , Yizhang Liu , Youjun Xiong , Jianxin Pang
Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.
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公开(公告)号：US11325247B2
公开(公告)日：2022-05-10
申请号：US16817576
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Yizhang Liu , Meihui Zhang , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.
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公开(公告)号：US11320088B1
公开(公告)日：2022-05-03
申请号：US17113127
申请日：2020-12-07
Inventor： Houzhu Ding , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A display stand includes a frame, an actuated rotary mechanism coupled to the frame, a counterweight coupled to the actuated rotary mechanism and movable in a vertical direction during rotation of the display about the axis of rotation, and an elevation mechanism. The actuated rotary mechanism includes a display holder that is configured to mount a display to the frame and rotate the display about an axis of rotation. The counterweight and the display are located at opposite sides of a vertical plane that passes through the axis of rotation such that a combined center of mass of the display, the display holder, and the counterweight lies on the vertical plane. The frame is coupled to the elevation mechanism, and the elevation mechanism is configured to move the frame up and down.
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