公开(公告)号：US12179364B2

公开(公告)日：2024-12-31

申请号：US17566726

申请日：2021-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Jianxin Pang ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/16

Abstract: A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.

公开(公告)号：US12115673B2

公开(公告)日：2024-10-15

申请号：US18052535

申请日：2022-11-03

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Yizhang Líu ,  Youjun Xiong ,  Xianwen Zeng ,  Zhihao Zhang ,  Meihui Zhang ,  Chunyu Chen

IPC: G06F17/00 ,  B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/163

Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.

公开(公告)号：US20240290097A1

公开(公告)日：2024-08-29

申请号：US18427775

申请日：2024-01-30

Applicant: UBTech Robotics Corp Ltd

Inventor： Kan Wang ,  Jianxin Pang ,  Huan Tan

IPC: G06V20/40 ,  G06V10/74 ,  G06V10/77 ,  G06V10/82

CPC classification number: G06V20/46 ,  G06V10/761 ,  G06V10/7715 ,  G06V10/82 ,  G06V20/48

Abstract: A method for extracting video features may include: obtaining a target video sequence that comprises a number of video frames; performing video frame feature extraction on the target video sequence to obtain video frame features of each of the video frames; performing feature weight calculation on each of the video frame features to obtain the feature weight of each of the video frame features; wherein the feature weight of each of the video frame features is determined by the video frame features of all of the video frames in the target video sequence; and performing feature weighting on each of the video frame features according to the feature weight of each of the video frame features to obtain video features of the target video sequence.

公开(公告)号：USD1035182S1

公开(公告)日：2024-07-09

申请号：US29832729

申请日：2022-03-29

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Mingming Ji ,  Xinshui Huang ,  Kun Yang

Abstract: FIG. 1 is a first perspective view of an automatic cat litter box showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof; and,
FIG. 8 is a bottom plan view thereof.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.

公开(公告)号：US20240221345A1

公开(公告)日：2024-07-04

申请号：US18533199

申请日：2023-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kan Wang ,  Jiaxin Pang ,  Huan Tan

IPC: G06V10/42 ,  G06V10/77 ,  G06V10/774 ,  G06V10/82 ,  G06V40/10

CPC classification number: G06V10/42 ,  G06V10/7715 ,  G06V10/774 ,  G06V10/82 ,  G06V40/10

Abstract: A method for pedestrian body part feature extraction is provided, including: performing global feature extraction on a target pedestrian image to obtain a global feature map; learning each of body parts in the global feature map using a self-produced supervision signals-based self-regulated channel attention model to output first channel attention vectors each describing a respective one of the body parts; weighting the first channel attention vectors with the global feature map to obtain a weighted feature map describing the body parts; and extracting body part features of the target pedestrian image from the weighted feature map.

公开(公告)号：US20240181633A1

公开(公告)日：2024-06-06

申请号：US18075450

申请日：2022-12-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XIANWEN ZENG ,  Yizhang Liu ,  Xuan Luo ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1607 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1653 ,  B25J9/1664

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter, obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.

公开(公告)号：US11996112B2

公开(公告)日：2024-05-28

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: G10L25/21 ,  G06N20/00 ,  G10L19/02 ,  G10L21/013 ,  G10L25/03 ,  G10L25/24 ,  G10L25/27 ,  G10L25/75

CPC classification number: G10L21/013 ,  G06N20/00 ,  G10L19/02 ,  G10L25/03 ,  G10L25/27 ,  G10L2021/0135

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：US11992946B2

公开(公告)日：2024-05-28

申请号：US17553758

申请日：2021-12-16

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yizhang Liu ,  Youjun Xiong ,  Xuan Luo ,  Xianwen Zeng ,  Ligang Ge ,  Chunyu Chen

IPC: B25J9/16

CPC classification number: B25J9/1651 ,  B25J9/1607

Abstract: A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.

公开(公告)号：US11983916B2

公开(公告)日：2024-05-14

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: G06V10/75

CPC classification number: G06V10/751 ,  G06V10/759

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.

公开(公告)号：US20240131702A1

公开(公告)日：2024-04-25

申请号：US18383950

申请日：2023-10-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LIQUN HUANG ,  Xiaoyu Ren ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B25J18/00

CPC classification number: B25J9/1656 ,  B25J9/1679 ,  B25J13/085 ,  B25J18/00

Abstract: A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n≤3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.