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公开(公告)号：US11287828B2
公开(公告)日：2022-03-29
申请号：US16427362
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Hongjian Liu , Zhanjia Bi , Jianxin Pang
Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle image of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.
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公开(公告)号：US11279045B2
公开(公告)日：2022-03-22
申请号：US16556233
申请日：2019-08-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Jianxin Pang , Wanli Zhang , Jingtao Zhang
Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.
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153.发明申请公开(公告)号：US20220019196A1
公开(公告)日：2022-01-20
申请号：US17088596
申请日：2020-11-04
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YUESONG WANG , Xiaozhu Ju , Mingguo Zhao , Youjun Xiong
IPC: G05B19/4155 , G05B19/416 , B25J9/16
Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.
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154.发明申请公开(公告)号：US20220009093A1
公开(公告)日：2022-01-13
申请号：US17192906
申请日：2021-03-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaoyu Ren , Liqun Huang , Mingguo Zhao , Youjun Xiong
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.
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公开(公告)号：US11204249B2
公开(公告)日：2021-12-21
申请号：US16396690
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong
Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.
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Patent Agency Ranking
公开(公告)号：US20210387332A1
公开(公告)日：2021-12-16
申请号：US17345005
申请日：2021-06-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhe Xu , Mingguo Zhao , Youjun Xiong
IPC: B25J9/16 , B25J13/08 , G05D1/08 , B62D57/032
Abstract: A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.
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公开(公告)号：US20210347059A1
公开(公告)日：2021-11-11
申请号：US16870903
申请日：2020-05-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chengkun Zhang , Marten Byl , Muhammed Rasid Pac , Raymond Ma , Luis Alfredo Mateos Guzman , Won Suk You , Huan Tan , Youjun Xiong
IPC: B25J11/00 , B25J5/00 , B65G1/02 , B65G61/00 , B25J9/16 , B25J19/02 , B25J9/10 , B25J9/12 , B25J19/00 , B25J9/00
Abstract: A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.
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公开(公告)号：US20210331323A1
公开(公告)日：2021-10-28
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：US20210331310A1
公开(公告)日：2021-10-28
申请号：US16861201
申请日：2020-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Mohammad Iman Mokhlespour Esfahani , Houzhu Ding , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A neck mechanism for a robot includes a first linear actuator, a second linear actuator in parallel with the first actuator, a rotary stage, and a support shaft positioned behind and between the first linear actuator and the second linear actuator. The first linear actuator and the second linear actuator are both connected between a platform and the rotary stage via joints, and the support shaft is connected between the upper platform and the rotary stage via a joint. The rotary motor is configured to rotate the rotary stage to yaw the platform and the first linear actuator and the second linear actuator are configured to pitch/roll the platform.
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160.发明授权公开(公告)号：US11126824B2
公开(公告)日：2021-09-21
申请号：US16805827
申请日：2020-03-01
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yusheng Zeng , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a face image quality evaluating method as well as an apparatus and a computer-readable storage medium using the same. The method includes: obtaining a face image; determining a local bright area in the face image, wherein the local bright area is formed by an illumination source in the face image, and the brightness of the local bright area is greater than the brightness of a face area in the face image; removing the local bright area from the face image; and evaluating a quality of the face image based on the face image having removed the local bright area. In the above-mentioned manner, the present disclosure improves the accuracy of the quality evaluation of the face image.
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