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191.发明申请公开(公告)号：US20220362929A1
公开(公告)日：2022-11-17
申请号：US17868790
申请日：2022-07-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yijie Guo , Mingguo Zhao , Youjun Xiong
IPC: B25J9/16
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：US11501082B2
公开(公告)日：2022-11-15
申请号：US16734389
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Li Ma , Weixing Xiong , Youjun Xiong
IPC: G06F40/30 , G06F16/31 , G06F16/35 , G06F40/205
Abstract: The present disclosure provides a sentence generation method as well as a sentence generation apparatus and a smart device. The method includes: obtaining an input sentence; searching for structurally similar sentence(s) of each input sentence, where the structurally similar sentence(s) are structurally similar to the input sentence; finding semantically similar sentence(s) of the structurally similar sentence(s); parsing the input sentence and the structurally similar sentence(s) to obtain a subject block, a predicate block, and an object block to rewrite the semantically similar sentences to generate a new sentence; filtering the new sentence based on a preset filtering condition; and labeling the filtered new sentence as a semantically similar sentence of the input sentence. In this manner, a plurality of new sentences with different sentence patterns can be generated based on the same input sentence, which improves the controllability in generating the sentences and saves the labor cost therein.
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公开(公告)号：US11498227B2
公开(公告)日：2022-11-15
申请号：US16709931
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.
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194.发明申请公开(公告)号：US20220358297A1
公开(公告)日：2022-11-10
申请号：US17870813
申请日：2022-07-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Li Ma
IPC: G06F40/58 , G06F16/332 , G06F16/33 , G06F40/47
Abstract: A method includes: acquiring an input sentence in a first language in a current round of conversation; translating the input sentence in the first language to obtain an input sentence in a second language, according to dialogue contents in the first language and dialogue contents in the second language that have a mutual translation relationship with the dialogue contents in the first language in historical rounds of conversation; invoking a multi-round conversation generation model to parse the input sentence in the second language in the current round of conversation to generate an output sentence in the second language in the current round of conversation; translating the output sentence in the second language in the current round of conversation to obtain at least one candidate result in the first language; and determining an output sentence in the first language from the at least one candidate result in the first language.
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公开(公告)号：US20220343530A1
公开(公告)日：2022-10-27
申请号：US17239697
申请日：2021-04-26
Inventor： Dan Shao , Dejun Guo , Zhen Xiu , Chuqiao Dong , Huan Tan
Abstract: On-floor obstacle detection using an RGB-D camera is disclosed. An obstacle on a floor is detected by receiving an image including depth channel data and RGB channel data through the RGB-D camera, estimating a ground plane corresponding to the floor based on the depth channel data, obtaining a foreground of the image corresponding to the ground plane based on the depth channel data, performing a distribution modeling on the foreground of the image based on the RGB channel data to obtain a 2D location of the obstacle, and transforming the 2D location of the obstacle into a 3D location of the obstacle based on the depth channel data.
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Patent Agency Ranking
公开(公告)号：US20220324106A1
公开(公告)日：2022-10-13
申请号：US17702819
申请日：2022-03-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhihao Zhang , Yizhang Liu , Jinliang Chen , Youjun Xiong
IPC: B25J9/16
Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.
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公开(公告)号：US11440198B2
公开(公告)日：2022-09-13
申请号：US16861200
申请日：2020-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Houzhu Ding , Mohammad Iman Mokhlespour Esfahani , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.
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公开(公告)号：US11422261B2
公开(公告)日：2022-08-23
申请号：US16699750
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.
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公开(公告)号：US11416719B2
公开(公告)日：2022-08-16
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
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.
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公开(公告)号：US11406185B1
公开(公告)日：2022-08-09
申请号：US17358038
申请日：2021-06-25
Inventor： Luis Alfredo Mateos Guzman , Chengkun Zhang
IPC: A47B88/457 , F16H19/04
Abstract: According to one aspect, an actuator of a robotic drawer is disclosed. The actuator may include a plurality of articulation components that form an articulated rack. The actuator may include a plurality of pins each coupled to an exterior of one of the plurality of articulation components. The actuator may include a transformer box coupled to a pinion and configured to move along an exterior of the articulated rack as the pinion moves along the surface. The transformer box may include a first guide configured to apply a first force to an arm of each of the pins as the transformer box moves in a first direction. The first force may cause the pin to rotate in a first rotational direction until the arm is fitted into a cam of the articulated rack such that adjacent articulation components are held in a fixed position, causing the articulated rack to extend.
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