公开(公告)号：US20210181747A1

公开(公告)日：2021-06-17

申请号：US17113132

申请日：2020-12-07

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G05D1/02 ,  G06T1/00 ,  G06T7/13 ,  G06T7/73 ,  B62D57/02

Abstract: A robot climbing control method is disclosed. A gravity direction vector in a gravity direction in a camera coordinate system of a robot is obtained. A stair edge of stairs in a scene image is obtained and an edge direction vector of the stair edge in the camera coordinate system is determined. A position parameter of the robot relative to the stairs is determined according to the gravity direction vector and the edge direction vector. Poses of the robot are adjusted according to the position parameter to control the robot to climb the stairs.

公开(公告)号：US11020857B2

公开(公告)日：2021-06-01

申请号：US16236526

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangbin Huang ,  Musen Zhang ,  Peng Nie ,  Hailang Zhou

IPC: B25J9/16

Abstract: The present disclosure provides a robot distance measuring method and apparatus as well as a robot using the same. The method includes: obtaining a plurality of relative position parameters of a robot from a plurality of ranging sensors; determining an installation distance between each two of the ranging sensors based on the plurality of relative position parameters; determining a sum of the installation distance of each looping arrangement of the plurality of ranging sensors based on the installation distance between each two of the ranging sensors; and enabling the plurality of ranging sensors sequentially to perform obstacle ranging according to a preset looping rule. Since the adjacent ranging sensors are avoided to range simultaneously or sequentially, the interference of the adjacent ranging sensors can be minimized, the accuracy of measuring the distance of the surrounding obstacles can be improved, thereby improving the navigation performance of the robot.

公开(公告)号：US20210146538A1

公开(公告)日：2021-05-20

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

IPC: B25J9/16 ,  B25J13/08

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.

公开(公告)号：US20210107577A1

公开(公告)日：2021-04-15

申请号：US16724413

申请日：2019-12-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B62D57/02 ,  G01L5/16

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

公开(公告)号：US10935090B2

公开(公告)日：2021-03-02

申请号：US16368879

申请日：2019-03-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Youpeng Li ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

IPC: F16D63/00 ,  F16D55/226 ,  F16D65/12 ,  F16D129/10

Abstract: A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.

公开(公告)号：US20210055739A1

公开(公告)日：2021-02-25

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

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.

公开(公告)号：USD910782S1

公开(公告)日：2021-02-16

申请号：US29627303

申请日：2017-11-26

Applicant: UBTECH Robotics Corp

Designer： Jian Zhou ,  Huaqiang Lu ,  Yiping Li ,  Youjun Xiong ,  John Rhee ,  Peng Deng ,  Jianxin Pang ,  Zheng Xie ,  Shulong Liu ,  Yangyu Pi ,  Youpeng Li ,  Jing Shi ,  Yizhang Liu ,  Kunlei Zhao

公开(公告)号：US10852139B2

公开(公告)日：2020-12-01

申请号：US16030843

申请日：2018-07-09

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Longbiao Bai ,  Zhichao Liu ,  Zhanjia Bi

IPC: G06F17/00 ,  G06F17/10 ,  G01C21/16 ,  H04W4/02 ,  G05B19/402 ,  G05D1/02 ,  G01C21/20

Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.

公开(公告)号：US10823582B2

公开(公告)日：2020-11-03

申请号：US16141987

申请日：2018-09-26

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Wenhua Fan ,  Yongping Zeng ,  Sheng Zhou

IPC: G01D5/12 ,  G01D5/244

Abstract: The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.

公开(公告)号：US10821606B2

公开(公告)日：2020-11-03

申请号：US15856052

申请日：2017-12-27

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Haiwu Su

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G01M1/30 ,  G01M1/12

Abstract: The present disclosure is applicable to robot technology. A method for robot fall prediction, and a robot are provided. The method includes: searching a weighted value of a center of gravity of the robot corresponding to a posture of the robot, according to a preset first corresponding relationship; correcting an offset of the center of gravity of the robot based on the weighted value of the center of gravity of the robot; correcting an acceleration of the robot based on an offset direction of the center of gravity of the robot; and determining whether the robot will fall based on the corrected offset of the center of gravity, the offset direction of the center of gravity, and the corrected acceleration of the robot. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.