公开(公告)号：US20220036065A1

公开(公告)日：2022-02-03

申请号：US16953378

申请日：2020-11-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Zhichao Liu ,  Chenchen Jiang ,  Youjun Xiong

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G01C21/20

Abstract: The present disclosure provides a loop closure detection method, a mobile device, and a computer readable storage medium. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.

公开(公告)号：US11230001B2

公开(公告)日：2022-01-25

申请号：US16572637

申请日：2019-09-17

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Jianxin Pang

IPC: B25J9/00 ,  B25J13/08 ,  B25J9/16 ,  B62D57/032

Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.

公开(公告)号：US20220009095A1

公开(公告)日：2022-01-13

申请号：US17408512

申请日：2021-08-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liqun Huang ,  Xiaoyu Ren ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

公开(公告)号：US20210387334A1

公开(公告)日：2021-12-16

申请号：US17198167

申请日：2021-03-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.

公开(公告)号：US20210347060A1

公开(公告)日：2021-11-11

申请号：US16923069

申请日：2020-07-07

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Marten Byl ,  Chengkun Zhang ,  Raymond Ma ,  Muhammed Rasid Pac ,  Huan Tan ,  Youjun Xiong

IPC: B25J11/00 ,  B25J5/00 ,  B25J9/12 ,  B25J9/00 ,  B65G1/02 ,  B25J9/10 ,  B65G61/00 ,  B25J19/00 ,  B25J19/02 ,  B25J9/16

Abstract: A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.

公开(公告)号：US20210331753A1

公开(公告)日：2021-10-28

申请号：US16885227

申请日：2020-05-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIE BAI ,  Ligang Ge ,  Hongge Wang ,  Yizhang Liu ,  Shuping Hu ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/02 ,  B25J9/16 ,  B25J19/02 ,  G05D1/08 ,  G06F17/18

Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.

公开(公告)号：US20210221455A1

公开(公告)日：2021-07-22

申请号：US17092347

申请日：2020-11-09

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B62D57/032

Abstract: The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.

公开(公告)号：US20210201890A1

公开(公告)日：2021-07-01

申请号：US17095751

申请日：2020-11-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ruotong Wang ,  Dongyan Huang ,  Xian Li ,  Jiebin Xie ,  Zhichao Tang ,  Wan Ding ,  Yang Liu ,  Bai Li ,  Youjun Xiong

IPC: G10L15/06 ,  G10L15/16 ,  G10L21/01 ,  G10L25/18 ,  G10L25/24 ,  G10L15/30 ,  G06N3/08

Abstract: The present disclosure discloses a voice conversion training method. The method includes: forming a first training data set including a plurality of training voice data groups; selecting two of the training voice data groups from the first training data set to input into a voice conversion neural network for training; forming a second training data set including the first training data set and a first source speaker voice data group; inputting one of the training voice data groups selected from the first training data set and the first source speaker voice data group into the network for training; forming the third training data set including the second source speaker voice data group and the personalized voice data group that are parallel corpus with respect to each other; and inputting the second source speaker voice data group and the personalized voice data group into the network for training.

公开(公告)号：US20210200962A1

公开(公告)日：2021-07-01

申请号：US17133673

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongfa Feng ,  Dongyan Huang ,  Youjun Xiong

IPC: G06F40/40

Abstract: A computer-implemented method for text conversion, a computer device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a text to be converted; performing a non-standard word recognition on the text to be converted, to determine whether the text to be converted includes a non-standard word; recognizing the non-standard word in the text to be converted by using an eXtreme Gradient Boosting model in response to the text to be converted including the non-standard word; and obtaining a target converted text corresponding to the text to be converted, according to a recognition result outputted by the eXtreme Gradient Boosting model. The method has a faster recognition speed and a higher recognition accuracy compared with the deep learning model.

公开(公告)号：US20210200948A1

公开(公告)日：2021-07-01

申请号：US16886826

申请日：2020-05-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LI MA ,  Youjun Xiong

IPC: G06F40/242 ,  G06N7/00 ,  G06N20/00 ,  G06F40/289

Abstract: The present disclosure provides a corpus cleaning method and a corpus entry system. The method includes: obtaining an input utterance; generating a predicted value of an information amount of each word in the input utterance according to the context of the input utterance using a pre-trained general model; and determining redundant words according to the predicted value of the information amount of each word, and determining whether to remove the redundant words from the input utterance. In such a manner, the objectivity and accuracy of corpus cleaning can be improved.