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公开(公告)号：US11418023B2
公开(公告)日：2022-08-16
申请号：US16535112
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Sheng Zhou , Malin Wang , Wenhua Fan , Jianxin Pang
Abstract: A current protection circuit for a high voltage system includes: a power supply module to supply power to a load through a high voltage bus and a low voltage bus; a detection module connected to the high voltage bus and used to detect a value of current flowing through the high voltage bus; a signal processing module electrically connected to the detection module and used to amplify the current flowing through the high voltage bus; and a control module electrically connected to the signal processing module, the power supply module, and the load, and used to disconnect the load from the power supply module or perform current limiting for the load when the value of the amplified current exceeds a preset threshold.
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公开(公告)号：US20220206499A1
公开(公告)日：2022-06-30
申请号：US17134219
申请日：2020-12-25
Inventor： Dejun Guo , Kang-Hao Peng , Dan Shao , Yang Shen , Huan Tan
IPC: G05D1/02
Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.
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153.发明申请公开(公告)号：US20220203526A1
公开(公告)日：2022-06-30
申请号：US17504544
申请日：2021-10-19
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie BAI , Ligang GE , Yizhang LIU , Youjun XIONG
Abstract: A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.
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154.发明申请公开(公告)号：US20220198224A1
公开(公告)日：2022-06-23
申请号：US17510415
申请日：2021-10-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hanliu Wang , Jun Cheng , Jianxin Pang
Abstract: A backlight face recognition method, a terminal device using the same, and a computer readable storage medium are provided. The method includes: performing a face detection on each original face image in an original face image sample set to obtain a face frame corresponding to the original face image; capturing the corresponding original face images from the original face image sample set, and obtaining a new face image containing background pixels corresponding to the captured original face images from the original face image sample set; preprocessing all the obtained new face images to obtain a backlight sample set and a normal lighting sample set; and training a convolutional neural network using the backlight sample set and the normal lighting sample set until the convolutional neural network reaches a preset stopping condition. The trained convolutional neural network will improve the accuracy of face recognition in complex background and strong light.
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公开(公告)号：US20220193899A1
公开(公告)日：2022-06-23
申请号：US17488341
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
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Patent Agency Ranking
公开(公告)号：US20220175609A1
公开(公告)日：2022-06-09
申请号：US17467461
申请日：2021-09-07
Inventor： Houzhu Ding , Chengkun Zhang , Zhen Xiu , Huan Tan
Abstract: A robotic assistant includes a base; an elevation mechanism positioned on the base; a display rotatably mounted on the elevation mechanism; a camera positioned on the display; and a control system that receives command instructions. In response to the command instructions, the control system is to detect movement of a face of the user in a vertical direction based on the images captured by the camera. In response to detection of the movement of the face of the user in the vertical direction, the control system is to rotate the display and actuate the elevation mechanism to the move the display up and down to allow the camera to face the face of the user during the movement of the face of the user in the vertical direction.
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公开(公告)号：US20220147754A1
公开(公告)日：2022-05-12
申请号：US17463523
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Zhanjia Bi , Yongsheng Zhao
IPC: G06K9/62
Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.
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公开(公告)号：US20220143841A1
公开(公告)日：2022-05-12
申请号：US17095758
申请日：2020-11-12
Inventor： Won Suk You , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.
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公开(公告)号：US11325264B1
公开(公告)日：2022-05-10
申请号：US17095758
申请日：2020-11-12
Inventor： Won Suk You , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.
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公开(公告)号：US20220134581A1
公开(公告)日：2022-05-05
申请号：US17499890
申请日：2021-10-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhongkui Huang , Zheng Xie , Hongyu Ding , Qixiang Luo
Abstract: An energy storing assistive mechanism includes a barrel having a first pivot end and an open end, a rod having a first end that passes through the open end and is received in the barrel, an elastic structure including two ends that abut against the first end of the rod and the first pivot end, a uni-directional gear rack having a second pivot end away from the barrel, and a locking mechanism fixed to the rod, the locking mechanism comprising a locking member and an actuator assembly that is to drive the locking member to move between a first position where the locking member is engaged with the gear rack, and a second position where the locking member is disengaged from the gear rack.
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