公开(公告)号：US20220206501A1

公开(公告)日：2022-06-30

申请号：US17462019

申请日：2021-08-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Hongge Wang ,  Jie Bai ,  Jiangchen Zhou ,  Zheng Xie

IPC: G05D1/02 ,  B25J9/16

Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.

公开(公告)号：US20220184807A1

公开(公告)日：2022-06-16

申请号：US17137431

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Chunyu Chen ,  Ligang Ge ,  Yizhang Liu ,  Youjun Xiong

IPC: B25J9/16

Abstract: The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.

公开(公告)号：US20220184799A1

公开(公告)日：2022-06-16

申请号：US17547274

申请日：2021-12-10

Applicant: Ubtech Robotics Corp Ltd

Inventor： Hongyu Ding ,  Yisen Hu ,  Jian Li

IPC: B25J9/10 ,  B25J9/12 ,  B25J13/08

Abstract: A dual-output-shaft servo includes a housing including two first sensors and two actuating mechanisms. Each actuating mechanism includes a motor assembly, a speed reduction mechanism opposite the motor assembly, and a transmission mechanism arranged between the motor assembly and the speed reduction mechanism. The speed reduction mechanism includes an output component, and a connection shaft is fixed to the output component. A first sensor counterpart is attached to an end of the connection shaft which faces the motor assembly. The transmission mechanism is to transmit mechanical power from the motor assembly to the speed reduction mechanism. The axes of rotation of the output components of the speed reduction mechanisms are skew or intersected with each other.

公开(公告)号：US11346648B2

公开(公告)日：2022-05-31

申请号：US16626519

申请日：2018-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Youjun Xiong

IPC: G01B5/24 ,  H02P21/18 ,  G05B19/416

Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

公开(公告)号：US11331806B2

公开(公告)日：2022-05-17

申请号：US16843921

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Miaochen Guo ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05B19/42 ,  B25J9/16 ,  B25J9/04 ,  B25J9/06 ,  B25J9/00 ,  B25J17/02 ,  B25J13/08 ,  B25J19/04 ,  B25J9/12

Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.

公开(公告)号：US20220139027A1

公开(公告)日：2022-05-05

申请号：US17216719

申请日：2021-03-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Luo ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06T15/20 ,  G06K9/00 ,  G06F30/20 ,  G06N3/08

Abstract: A scene data obtaining method as well as a model training method and a computer readable storage medium using the same are provided. The method includes: building a virtual simulation scene corresponding to an actual scene, where the virtual simulation scene is three-dimensional; determining a view frustum corresponding to preset view angles in the virtual simulation scene; collecting one or more two-dimensional images in the virtual simulation scene and ground truth object data associated with the one or more two-dimensional images using the view frustum corresponding to the preset view angles; and using all the two-dimensional images and the ground truth object data associated with the one or more two-dimensional images as scene data corresponding to the actual scene. In this manner, the data collection does not require manual annotation, and the obtained data can be used for training deep learning-based perceptual models.

公开(公告)号：US11285613B2

公开(公告)日：2022-03-29

申请号：US16699132

申请日：2019-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Youjun Xiong ,  Longbiao Bai ,  Simin Zhang ,  Jianxin Pang

IPC: G06T7/73 ,  B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.

公开(公告)号：US11260529B2

公开(公告)日：2022-03-01

申请号：US16584968

申请日：2019-09-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Zhang ,  Youjun Xiong ,  Zhichao Liu ,  Longbiao Bai ,  Chenchen Jiang ,  Simin Zhang ,  Hongjian Liu ,  Zhanjia Bi ,  Yongsheng Zhao ,  Jianxin Pang

IPC: G05B19/23 ,  G05D1/02 ,  B25J9/16

Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

公开(公告)号：US11232289B2

公开(公告)日：2022-01-25

申请号：US16817554

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jun Cheng ,  Kui Guo ,  Jing Gu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06T5/00 ,  G06K9/62

Abstract: The present disclosure provides a face identification method and a terminal device using the same. The method includes: obtaining a to-be-detected image; performing a brightness enhancement process on the to-be-detected image based on a preset second calculation method to generate a to-be-identified face image; obtaining a first channel value of each channel corresponding to each pixel in the to-be-identified face image; performing another brightness enhancement process on the to-be-identified face image based on each first channel value and a preset first calculation method to obtain a target to-be-identified face image; and performing a face identification process on the target to-be-identified face image to obtain an identification result. Through the above-mentioned scheme, an enhanced face identification manner for the images of low brightness is provided.

公开(公告)号：US20220009096A1

公开(公告)日：2022-01-13

申请号：US17138942

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Liqun Huang ,  Xiaoyu Ran ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  G06F17/16

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.