公开(公告)号：US20210197371A1

公开(公告)日：2021-07-01

申请号：US17134565

申请日：2020-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liqun Huang ,  Xiaoyu Ren ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/02 ,  B25J13/08

Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.

公开(公告)号：US20210197370A1

公开(公告)日：2021-07-01

申请号：US17133575

申请日：2020-12-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  G05D1/02 ,  B62D57/032

Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.

公开(公告)号：US11048262B2

公开(公告)日：2021-06-29

申请号：US16435580

申请日：2019-06-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Peng Nie ,  Youjun Xiong ,  Xu Hu ,  Xiangbin Huang

IPC: G05D1/02 ,  G08G1/00

Abstract: The present disclosure provides a movement control method for a robot as well as an apparatus and a robot using the same. The method includes: obtaining a starting position and an ending position of the robot, in response to a movement instruction being detected; determining a movement path of the robot based on the starting position and the ending position; obtaining pass qualification information of the robot, if the movement path intersects a line corresponding to a preset virtual wall; and moving the robot to the ending position according to the movement path, if the pass qualification information identifying the robot is allowed to traverse the virtual wall. By obtaining the pass qualification information, the robot can return to the working area from the non-working area in the case of an abnormality, while ensuring that the robot does not actively traverse from the working area to the non-working area.

公开(公告)号：US20210193113A1

公开(公告)日：2021-06-24

申请号：US17115729

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dongyan Huang ,  Leyuan Sheng ,  Youjun Xiong

IPC: G10L13/08 ,  G10L25/24 ,  G10L13/047

Abstract: The present disclosure provides a speech synthesis method as well as an apparatus and a computer readable storage medium using the same. The method includes: obtaining a to-be-synthesized text, and extracting to-be-processed Mel spectrum features of the to-be-synthesized text through a preset speech feature extraction algorithm; inputting the to-be-processed Mel spectrum features into a preset ResUnet network model to obtain first intermediate features; performing an average pooling and a first down sampling on the to-be-processed Mel spectrum features to obtain second intermediate features; taking the second intermediate features and the first intermediate features output by the ResUnet network model as an input to perform a deconvolution and a first up sampling so as to obtain target Mel spectrum features corresponding to the to-be-processed Mel spectrum features; and converting the target Mel spectrum features into a target speech corresponding to the to-be-synthesized text.

公开(公告)号：US20210192184A1

公开(公告)日：2021-06-24

申请号：US16805827

申请日：2020-03-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06T7/11 ,  G06T7/136

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.

公开(公告)号：US20210182633A1

公开(公告)日：2021-06-17

申请号：US17012016

申请日：2020-09-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Zhichao Liu ,  Yongsheng Zhao ,  Yu Tang ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/62 ,  G06K9/00 ,  G01S19/47

Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.

公开(公告)号：US20210154853A1

公开(公告)日：2021-05-27

申请号：US16734400

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGGE WANG ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/00

Abstract: The present disclosure provides a robot motion control method as well as an apparatus and a robot using the same. The method includes: obtaining geometric parameter(s) of a target step, where the geometric parameters comprise a step width and a step height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate based on the geometric parameters; generating a motion trajectory by fitting the at least two time-displacement coordinates and the corresponding velocity vectors; and controlling feet of the robot to move based on the motion trajectory. In this manner, the feet of the robot can be prevented from colliding violently with the step during going up the step so as to improve the safety and stability.

公开(公告)号：US20210154835A1

公开(公告)日：2021-05-27

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGJIAN LIU ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.

公开(公告)号：USD920411S1

公开(公告)日：2021-05-25

申请号：US29736275

申请日：2020-05-29

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Chengxuan Zheng ,  Libing Zhou ,  Wenjin Ye ,  Youjun Xiong

公开(公告)号：US10962109B2

公开(公告)日：2021-03-30

申请号：US16447982

申请日：2019-06-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Wenhua Fan ,  Zhongliang Wang ,  Hanyu Sun

IPC: F16H61/32 ,  F16H59/02 ,  F16H59/44

Abstract: A servo includes a motor having a rotating shaft, an output shaft disposed apart from the rotating shaft, a transmission mechanism to transmit mechanical power from the motor to the output shaft, a circuit board, a first detected member fixed to an end of the rotating shaft, a second detected member fixed to an end of the output shaft adjacent to the circuit board; and a first detecting member and a second detecting member mounted on the circuit board and configured to respectively detect rotational angles of the rotating shaft and the output shaft, based on changes caused by rotation of the first detected member and the second detected member.