公开(公告)号：US20190217464A1

公开(公告)日：2019-07-18

申请号：US16212619

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Hao Dong ,  Yuesong Wang ,  Mingguo Zhao

IPC: B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B25J13/08

CPC classification number: B25J9/0006 ,  B25J9/0009 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  B62D57/032

Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.

公开(公告)号：US20190199834A1

公开(公告)日：2019-06-27

申请号：US15891380

申请日：2018-02-08

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Haiwu Su ,  Lin Chen

IPC: H04L29/06

Abstract: The present disclosure provides a method, an apparatus and a terminal device for communication protocol compatibility. The method includes: receiving an external protocol list transmitted by an external device and retrieving a locally stored local protocol list; taking one of a same version information of the external protocol list and the local protocol list as matched version information, if the external protocol list and the local protocol list have the same version information; and taking the local protocol corresponding to the snatched version information as the protocol for communicating with the external device, and transmitting the matched version information to the external device. As a result, when the terminal device and the external device have the same communication protocol, they can perform data exchange using the same communication protocol automatically, which reduces the possibility of the incompatibility in the communication protocol so as to improve the communication success rate.

公开(公告)号：US20190197735A1

公开(公告)日：2019-06-27

申请号：US16205348

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T7/80 ,  H04N13/271 ,  H04N13/257 ,  H04N13/246

CPC classification number: G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20024 ,  G06T2207/20076 ,  H04N13/246 ,  H04N13/257 ,  H04N13/271

Abstract: The present disclosure provides a method and an apparatus for image processing, and a robot using the same. The method includes: obtaining a depth map and a color map of a target object in a predetermined scene; filtering the depth map based on the color map to obtain a first depth filter map; detecting pixel values of pixels in the first depth filter map to obtain one or more first pixels, and forming a black dot cavity area based on the one or more first pixels; re-assigning a depth value of each of the one or more first pixels in the black dot cavity area according to a preset rule to obtain the depth map after repair; and filtering the depth map after repair to obtain a second depth filter map. The present disclosure is capable of improving the quality of the depth map.

公开(公告)号：US20190186954A1

公开(公告)日：2019-06-20

申请号：US16141987

申请日：2018-09-26

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Wenhua Fan ,  Yongping Zeng ,  Sheng Zhou

IPC: G01D5/12

Abstract: The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.

公开(公告)号：US10317874B2

公开(公告)日：2019-06-11

申请号：US15640581

申请日：2017-07-03

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Lifu Zhang ,  Xi Bai ,  Wenhua Fan

IPC: G05B19/23 ,  G05B19/402

Abstract: The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.

公开(公告)号：US20190163209A1

公开(公告)日：2019-05-30

申请号：US16161093

申请日：2018-10-16

Applicant: UBTECH Robotics Corp

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

IPC: G05D13/62 ,  G05B17/02

Abstract: The present disclosure relates to a method, a terminal device, and a computer readable storage medium for controlling rotation of a servo. The method includes: acquiring a loading mass and a rotation radius of the servo from a sensor electrically connected with the servo or by an externally input; calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo; setting an angular acceleration of the servo according to the angular acceleration threshold; and rotating the servo according to the angular acceleration.

公开(公告)号：US20190160659A1

公开(公告)日：2019-05-30

申请号：US16161099

申请日：2018-10-16

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Dong Liu ,  Zhenmin Mo ,  Zhongliang Wang

IPC: B25J9/16 ,  G05B6/02 ,  B25J9/00

Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.

公开(公告)号：US10279472B2

公开(公告)日：2019-05-07

申请号：US15321727

申请日：2016-10-28

Applicant: UBTECH Robotics Corp.

Inventor： Dong Liu ,  Youjun Xiong

IPC: B25J9/00 ,  B25J9/12 ,  B25J13/00 ,  G05B19/042 ,  G05B19/414

Abstract: The present invention discloses a servo control system and a servo. A servo control system includes a main control module; and a communication module including a first communication interface, a second communication interface and a control switch unit. First communication terminal and second communication terminal of the control switch unit are correspondingly coupled to the first communication interface and the second communication interface. First enabling port and second enabling port of the control switch unit are correspondingly coupled to two enabling terminals of the main control module. The main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level. In the above manner, the present invention can assign an identification number to a servo during initialization of the servo, avoiding the installing inconvenience caused by that servo identification numbers are fixed.

公开(公告)号：US20190121328A1

公开(公告)日：2019-04-25

申请号：US16140546

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Mingzhao Li ,  Zhenmin Mo

IPC: G05B19/416 ,  G05B19/19 ,  G05B21/02

Abstract: A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second ideal motion curve to a second ideal end position from a corresponding ideal position on a first ideal motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second ideal end position according to the second ideal motion curve. When the second motion instruction is received, the servo is controlled to rotate from the ideal position to the second ideal end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.

公开(公告)号：US20190097491A1

公开(公告)日：2019-03-28

申请号：US15826686

申请日：2017-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Yong Fu ,  Hongyu Ding

IPC: H02K7/00 ,  H02K7/116 ,  H02K11/30

Abstract: A servo includes a housing, a motor, a printed circuit board (PCB) and a servo output shaft that are accommodated within the housing. The motor is electrically connected to the PCB. The housing has a lateral side defining a cutout. The servo further includes a gear transmission mechanism and an output arm. The gear transmission mechanism is used to connect a motor output shaft of the motor to the servo output shaft. The output arm has an end that is arranged within the housing at a substantially central position and connected to the servo output shaft, and another end extending out of the housing to connect with an external component.