公开(公告)号：US11110607B2

公开(公告)日：2021-09-07

申请号：US16535108

申请日：2019-08-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Hanyu Sun ,  Lifu Zhang ,  Wenhua Fan ,  Zhongliang Wang ,  Yongping Zeng ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/12

Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.

公开(公告)号：US11074450B2

公开(公告)日：2021-07-27

申请号：US16726833

申请日：2019-12-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yang Li ,  Jing Gu ,  Yue Wang ,  Ao Liu ,  Jun Cheng

IPC: G06K9/62 ,  G06K9/00 ,  G06T7/62 ,  G06T7/70

Abstract: The present disclosure provides a picture hook identification method as well as an apparatus and a terminal device using the same. The method includes; determining geometric parameter(s) of an identification object based on image(s) collected b a camera and internal parameter(s) of the camera; comparing the geometric parameters of the identification object with geometric parameter(s) of a target picture book; and determining the identification object as the target picture book, if a difference between the geometric parameters of the identification object and the geometric parameters of the target picture book is within a preset range. In this manner, the target picture book is further filtered by matching the geometric parameters, which can reduce misidentification to improve the accuracy of identifying the picture book.

公开(公告)号：US20210201925A1

公开(公告)日：2021-07-01

申请号：US17110323

申请日：2020-12-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jiebin Xie ,  Ruotong Wang ,  Dongyan Huang ,  Zhichao Tang ,  Yang Liu ,  Youjun Xiong

IPC: G10L21/013 ,  G10L15/02 ,  G10L25/03 ,  G10L25/69 ,  G10L15/04 ,  G10L13/033

Abstract: The present disclosure provides a streaming voice conversion method as well as an apparatus and a computer readable storage medium using the same. The method includes: obtaining to-be-converted voice data; partitioning the to-be-converted voice data in an order of data obtaining time as a plurality of to-be-converted partition voices, where the to-be-converted partition voice data carries a partition mark; performing a voice conversion on each of the to-be-converted partition voices to obtain a converted partition voice, where the converted partition voice carries a partition mark; performing a partition restoration on each of the converted partition voices to obtain a restored partition voice, where the restored partition voice carries a partition mark; and outputting each of the restored partition voices according to the partition mark carried by the restored partition voice. In this manner, the response time is shortened, and the conversion speed is improved.

公开(公告)号：US20210200952A1

公开(公告)日：2021-07-01

申请号：US17134494

申请日：2020-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Weixing Xiong ,  Li Ma ,  Youjun Xiong

IPC: G06F40/295 ,  G06F40/40 ,  G06K9/62

Abstract: The present disclosure discloses an entity recognition model training method and an entity recognition method as well as an apparatus using them. The entity recognition model training method includes: obtaining a training text and matching the training text with a database to obtain a plurality of matching results; processing the matching results to obtain a plurality of feature vectors corresponding to the matching results; obtaining a word vector of each word in the training text by processing the training text; and training an initial entity recognition model based on the feature vector and the word vector to obtain an entity recognition model. By using this training manner, the entity recognition model obtained can have an improved accuracy of entity recognition.

公开(公告)号：US20210197404A1

公开(公告)日：2021-07-01

申请号：US16854856

申请日：2020-04-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Li ,  Hongyu Ding ,  Youpeng Li ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J17/00 ,  F16H49/00 ,  F16H57/02 ,  H02K7/08 ,  H02K7/116 ,  H02K11/215 ,  H02K11/22

Abstract: A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.

公开(公告)号：US20210197388A1

公开(公告)日：2021-07-01

申请号：US16935231

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： RUI GUO ,  Kun Xie ,  Chenchen Jiang ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.

公开(公告)号：US20210193160A1

公开(公告)日：2021-06-24

申请号：US17084672

申请日：2020-10-30

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： RUOTONG WANG ,  Zhichao Tang ,  Dongyan Huang ,  Jiebin Xie ,  Zhiyuan Zhao ,  Yang Liu ,  Youjun Xiong

IPC: G10L21/013 ,  G10L25/03 ,  G10L25/27 ,  G10L19/02 ,  G06N20/00

Abstract: The present disclosure discloses a voice conversion method. The method includes: obtaining a to-be-converted voice, and extracting acoustic features of the to-be-converted voice; obtaining a source vector corresponding to the to-be-converted voice from a source vector pool, and selecting a target vector corresponding to the target voice from the target vector pool; obtaining acoustic features of the target voice output by the voice conversion model by using the acoustic features of the to-be-converted voice, the source vector corresponding to the to-be-converted voice, and the target vector corresponding to the target voice as an input of the voice conversion model; and obtaining the target voice by converting the acoustic features of the target voice using a vocoder. In addition, a voice conversion apparatus and a storage medium are also provided.

公开(公告)号：US20210162595A1

公开(公告)日：2021-06-03

申请号：US16932872

申请日：2020-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J5/00

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.

公开(公告)号：USD921082S1

公开(公告)日：2021-06-01

申请号：US29734165

申请日：2020-05-09

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Francisco Jose Hernandez ,  Brandon Jon LaPlante ,  Shixun Chen ,  Chengkun Zhang ,  Huan Tan ,  Youjun Xiong

公开(公告)号：USD921080S1

公开(公告)日：2021-06-01

申请号：US29733166

申请日：2020-04-30

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Shixun Chen ,  Francisco Jose Hernandez ,  Brandon Jon LaPlante ,  Chengkun Zhang ,  Huan Tan