公开(公告)号：US10827258B2

公开(公告)日：2020-11-03

申请号：US16447978

申请日：2019-06-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Fanglin Xing

IPC: H04R1/40 ,  G10L19/008 ,  H04R1/02

Abstract: The present disclosure provides a robot and an audio data processing method thereof. The robot includes a body, a main control module, and a sound pickup module. The sound pickup module includes microphones divided into a first microphone array and a second microphone array; the first microphone array includes N microphones disposed around the body; the second microphone array includes M microphones disposed on the body and located on a line connecting two of the microphones in the first microphone array; the main control module is configured to obtain N channels of audio data through the first microphone array, obtain M channels of audio data through the second microphone array, and perform a sound source localization and a sound pickup based on the N channels of audio data and the M channels of audio data.

公开(公告)号：US10788334B2

公开(公告)日：2020-09-29

申请号：US16195868

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangbin Huang

IPC: G01C25/00 ,  G07C5/02 ,  G05D1/02 ,  G06F17/13

Abstract: The present disclosure provides an omni wheel mileage calibration method and apparatus, as well as a robot using the wane. The method includes: (a) calibrating the omni wheel through a linear motion to obtain a straight line calibration result; (b) calibrating the omni wheel through a rotational motion to obtain a rotation calibration result; (c) performing error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result; (d) determining a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful in response to the error verification result meeting a preset precision requirement. The present disclosure provides a mileage calibration method for an omni wheel system, which improves the operation precision of a robot.

公开(公告)号：US10778959B2

公开(公告)日：2020-09-15

申请号：US16205282

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N13/00 ,  H04N13/128 ,  H04N13/211 ,  H04N13/296 ,  H04N13/221

Abstract: The present disclosure provides a robot-based 3D picture shooting method and system, and a robot using the same. The method includes: obtaining a distance between a photographed object and the photographing device of the robot based on a received shooting instruction; calculating an inter-axis distance based on the distance; obtaining the first picture after moving the robot for half of the inter-axis distance along the movement direction; obtaining the second picture after moving the robot for entire of the inter-axis distance from a current position along an opposite direction of the movement direction; and synthesizing the first picture and the second picture to obtain a 3D picture of the photographed object. In the process, the robot moves the photographing device according to the calculated inter-axis distance, and obtains two pictures of the left and right of the photographed object, which is not necessary to use a binocular camera.

公开(公告)号：US10771925B1

公开(公告)日：2020-09-08

申请号：US16699763

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Wanjun He ,  Yu Tang ,  Youjun Xiong ,  Jianxin Pang

IPC: H04W4/02 ,  H04B17/27 ,  H04W4/029 ,  H04W48/10 ,  H04B17/318

Abstract: The present disclosure provides localization methods and a system using the same. One of the methods includes: broadcasting a ranging frame in a awake state of a localization tag; obtaining a response frame returned by the first anchor according to the ranging frame; updating the ranging anchor list according to the response frame; and calculating a distance between the localization tag and the first anchor based on a time of broadcasting the ranging frame, a time of receiving the response frame, the time of the first anchor receiving the ranging frame, and the time of the first anchor transmitting the response frame. In such a manner, the localization tag is enabled to switch the anchor for ranging in time according to the updated ranging anchor list during movement, thereby automatically ranging with the nearby anchor.

公开(公告)号：US10727821B2

公开(公告)日：2020-07-28

申请号：US16509515

申请日：2019-07-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Hanyu Sun

IPC: H03K3/00 ,  H03K3/3565 ,  H03K5/24

Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.

公开(公告)号：US10717188B2

公开(公告)日：2020-07-21

申请号：US16114220

申请日：2018-08-28

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Kunlei Zhao

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10 ,  F16H55/22 ,  F16H1/12 ,  B25J9/00

Abstract: A spatial crossed-axis transmission mechanism includes a rotatable driving member, an actuating member, and a support member for fixing the driving member and the actuating member. The driving member comprises a first end surface adjacent to the support member, and an Archimedes spiral groove is defined in the first end surface of the driving member. The actuating member includes an end surf adjacent to the support member and a sliding shaft on the end surface of the actuating member. The support member defines a straight groove passing therethrough, and the sliding shaft comprises an end that extends through the straight groove and fits into the Archimedes spiral groove.

公开(公告)号：US10529323B2

公开(公告)日：2020-01-07

申请号：US15712072

申请日：2017-09-21

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lin Chen

IPC: G10L15/18 ,  G10L15/22 ,  G06F16/242 ,  G06F17/27

Abstract: The present disclosure relates to a semantic processing method of robots, including: receiving, by a semantic processing platform, a voice request from a robot, performing a sematic analysis on the voice request to obtain a current sematic intention, determining whether a response matching the current semantic intention is stored in a database, obtaining the response from the database if determining that the response is stored in the database, obtaining the response by accessing a third-party application corresponding to the current semantic intention if determining that the response is not stored in the database, and transmitting the response to the robot to guide the robot to perform a corresponding action. The present disclosure further provides a semantic processing device.

公开(公告)号：US10485124B2

公开(公告)日：2019-11-19

申请号：US15640583

申请日：2017-07-03

Applicant: UBTECH Robotics Corp.

Inventor： Wenhua Yu ,  Youjun Xiong

IPC: B25J19/00 ,  H05K5/02 ,  H05K5/00

Abstract: A cable management structure for managing a connection cable in a robot includes a head structure, a waist structure and a base. The waist structure includes a rotating member, a rotating assembly and a fixed assembly. The rotating assembly is rotatably connected to the fixed assembly. The rotating member, the rotating assembly and the fixed assembly are coaxial. The rotating member defines a through hole. The rotating assembly is connected to the head structure and defines a passage communicating with the through hole. The fixed assembly is connected to the base. The base includes a main circuit board, and the main circuit board is located below the through hole. The connection cable includes a first end connected to the main circuit board and a second, opposite end passing through the through hole and the passage and extending into the head structure.

公开(公告)号：US10447992B1

公开(公告)日：2019-10-15

申请号：US16104143

申请日：2018-08-17

Applicant: UBTECH Robotics Corp

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

IPC: H04N13/221 ,  G06T1/00 ,  H04N13/296 ,  G06T7/174 ,  H04N13/00

Abstract: The present disclosure discloses a method and a system for image processing. The method includes: obtaining images of a target environment captured by a robot in a preset movement trajectory according to a predefined condition; combining every two of the images having a same region into a corresponding image pair based on an initial position estimation of each of the images; producing an image seed based on the image pair; performing position optimization on the image seed; producing an image subset based on the image seed after the position optimization; and performing position optimization on the image subset based on the image seeds in the image subset. It can effectively reduce the computational complexity of image matching, reduce the calculation time, and improve the accuracy of image processing.

公开(公告)号：US10357882B2

公开(公告)日：2019-07-23

申请号：US15669962

申请日：2017-08-07

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Hailang Zhou ,  Musen Zhang

IPC: G06F9/44 ,  B25J13/00 ,  H04L12/403 ,  H04L12/40 ,  G06F8/61 ,  G06F8/60 ,  G06F11/14 ,  G06F9/455 ,  G06F8/71 ,  G06F8/658 ,  G06F16/23 ,  G06F8/65

Abstract: The present disclosure relates to a data upgrading method, including: transmitting a data region preparation request for preparing a data region, transmitting a length of the upgraded data packet via a block control instruction frame, wherein a node adjusts the data region according to the length of the upgraded data packet, receiving the length of the data region, and transmitting the upgraded data packet according to a predetermined sending sequence. As such, the abnormal operations may be avoided and the reliability may be enhanced.