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171.发明授权公开(公告)号：US10960319B2
公开(公告)日：2021-03-30
申请号：US16727969
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Wei He , Wenhua Fan , Zhongliang Wang , Youjun Xiong
Abstract: A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.
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公开(公告)号：US20210056295A1
公开(公告)日：2021-02-25
申请号：US16817554
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jun Cheng , Kui Guo , Jing Gu , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a face identification method and a terminal device using the same. The method includes: obtaining a to-be-detected image; performing a brightness enhancement process on the to-be-detected image based on a preset second calculation method to generate a to-be-identified face image; obtaining a first channel value of each channel corresponding to each pixel in the to-be-identified face image; performing another brightness enhancement process on the to-be-identified face image based on each first channel value and a preset first calculation method to obtain a target to-be-identified face image; and performing a face identification process on the target to-be-identified face image to obtain an identification result. Through the above-mentioned scheme, an enhanced face identification manner for the images of low brightness is provided.
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公开(公告)号：US20200209365A1
公开(公告)日：2020-07-02
申请号：US16396693
申请日：2019-04-28
Applicant: Ubtech Robotics Corp Ltd
Inventor： Yongsheng Zhao , Youjun Xiong , Zhichao Liu , Jianxin Pang
Abstract: The present disclosure provides a laser data calibration method and robot using the same. The method includes: obtaining a pose of a movable device; determining a pose of the lidar based on the pose of the movable device and a transformation relationship between the movable device and the lidar: determining an instantaneous speed of the lidar based on the pose of the lidar at two adjacent time points; determining a delay time of an collection time of one frame of raw laser data obtained through the lidar by scanning for one round with respect to an collection time of a first raw laser data: and obtaining a calibration data of the raw laser data based on the instantaneous speed, tire delay time, and the raw laser data. Through the above-mentioned method, the calibration of the raw laser data can be realized.
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公开(公告)号：US20200206959A1
公开(公告)日：2020-07-02
申请号：US16709927
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youpeng Li , Youjun Xiong , Hongyu Ding , Meichun Liu , Jianxin Pang
Abstract: A robotic arm assembly includes a main body, a number of servos arranged within the main body, each of which has an output shaft, and a rotary connection member connected to the output shaft of one of the servos at a first end of the main body. The rotary connection member defines a through hole allows cables to pass therethrough.
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175.发明申请公开(公告)号：US20200206646A1
公开(公告)日：2020-07-02
申请号：US16727969
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Wei He , Wenhua Fan , Zhongliang Wang , Youjun Xiong
Abstract: A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.
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Patent Agency Ranking
公开(公告)号：US20200161803A1
公开(公告)日：2020-05-21
申请号：US16445243
申请日：2019-06-19
Applicant: Ubtech Robotics Corp Ltd
Inventor： Youjun Xiong , Wenhua Fan , Jianxin Pang
Abstract: An electronic building block includes a first side and a second side, a first magnet fixed to the first side and including a number of first magnet segments, a second magnet fixed to the second side and including a number of second magnet segments, a first power contact, a second power contact and a first communication contact arranged on the first side; and a third power contact, a fourth power contact and a second communication contact arranged on the second side and respectively coming into contact with the first power contact, the second power contact, and the first communication contact when the first magnet segments of one of two electronic building blocks is connected to the second magnet segments of the other of two electronic building blocks.
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公开(公告)号：US12172325B2
公开(公告)日：2024-12-24
申请号：US18075426
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Meihui Zhang , Yizhang Liu , Youjun Xiong , Huan Tan
Abstract: A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.
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178.发明授权公开(公告)号：US12103177B2
公开(公告)日：2024-10-01
申请号：US17868790
申请日：2022-07-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yijie Guo , Mingguo Zhao , Youjun Xiong
CPC classification number: B25J9/1607 , B25J9/1615 , B25J9/163 , B25J9/1638 , B25J9/1653
Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.
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公开(公告)号：US12076860B2
公开(公告)日：2024-09-03
申请号：US17561609
申请日：2021-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Youjun Xiong
IPC: B62D57/032 , B25J9/16 , B62D57/024
CPC classification number: B25J9/1602 , B25J9/1633
Abstract: A control method for a robot includes: determining a desired zero moment point (ZMP) of the robot; obtaining a position of a left foot and a position of a right foot of the robot, and calculating desired support forces of the left foot and the right foot according to the desired ZMP, the positions of the left foot and the right foot; obtaining measured support forces of the left foot and the right foot, and calculating an amount of change in length of the left leg and an amount of change in length of the right leg according to the desired support forces of the left foot and the right foot, the measured support forces of the left foot and the right foot; and controlling the robot to walk according to the amount of change in length of the left leg and the right leg.
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公开(公告)号：US12005584B2
公开(公告)日：2024-06-11
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
CPC classification number: B25J9/1653 , B25J9/1607 , B25J9/1664 , B25J13/088
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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