公开(公告)号：US20210370522A1

公开(公告)日：2021-12-02

申请号：US17216716

申请日：2021-03-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kunlei Zhao ,  Zheng Xie ,  Zhaohui An ,  Weizhi Shi ,  Youjun Xiong

IPC: B25J15/00 ,  B25J15/02

Abstract: A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.

公开(公告)号：US20210341099A1

公开(公告)日：2021-11-04

申请号：US17243523

申请日：2021-04-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongjin Zhao ,  Wenhua Yu ,  Libing Zhou ,  Junxin Mou ,  Jialin Qin ,  Youjun Xiong

IPC: F16M13/02 ,  F16H25/20 ,  F16M11/04 ,  F16M11/18 ,  B25J9/12

Abstract: An elevation device includes a mounting frame, a rotary actuator fixed to the mounting frame, a shall connected to the rotary actuator and rotatable with respect to the mounting frame, a drive bar slidably connected to the mounting frame, and a connecting member fixed to the shaft. The shaft defines a helical groove in a lateral surface thereof. The drive bar includes a post that is movably fit in the helical groove. The mounting frame, the shaft and the drive bar constitute a conversion mechanism that converts rotation of the shaft into linear motion of the drive bar. The drive bar is slidable with respect to the mounting frame along a direction that is parallel to an axis of rotation of the shaft.

公开(公告)号：US11161246B2

公开(公告)日：2021-11-02

申请号：US16734402

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongjian Liu ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Yun Zhao ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.

公开(公告)号：USD932530S1

公开(公告)日：2021-10-05

申请号：US29738499

申请日：2020-06-18

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Brandon Jon LaPlante ,  Liang Huang ,  Chengkun Zhang ,  Jianbo Li ,  Jingchen Li ,  Francisco Jose Hernandez ,  Shixun Chen ,  Hongyu Ding ,  Wenhua Fan ,  Xinshui Huang ,  Huan Tan ,  Youjun Xiong

公开(公告)号：US11080404B2

公开(公告)日：2021-08-03

申请号：US16576807

申请日：2019-09-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Malin Wang ,  Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Sheng Zhou ,  Jianxin Pang

IPC: G06F8/654 ,  G06F9/4401 ,  G06F21/57 ,  G06F13/40 ,  G06F8/65

Abstract: A firmware upgrade method for a slave station of a robot communicates with a master station of the robot via an EtherCAT bus of the robot, includes: switching a work mode of the slave station to an upgrade mode in response to a firmware upgrade instruction, receiving a new firmware corresponding to this firmware upgrade via the EtherCAT bus, storing the new firmware in a second storage area of a flash memory of the slave station, restarting the slave station after the new firmware is received, and copying the new firmware stored in the second storage area to a first storage area of the flash memory and executing the new firmware in the first storage area when the slave station is started. A slave station of the robot and a machine readable storage medium are also provided.

公开(公告)号：US20210200990A1

公开(公告)日：2021-07-01

申请号：US17134467

申请日：2020-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06T7/00

Abstract: The present disclosure provides a method for extracting a face detection image, wherein the method includes: obtaining a plurality of image frames by an image detector, performing a face detection process on each image frame to extract a face area, performing a clarity analysis on the face area of each image frame to obtain a clarity degree of a face, conducting a posture analysis on the face area of each image frame to obtain a face posture angle, generating a comprehensive evaluation index for each image frame in accordance with the clarity degree of the face and the face posture angle of each image frame, and selecting a key frame from the image frames based on the comprehensive evaluation index. Such that the resource occupancy rate during image data processing may be reduced, and the quality of the face detection process may be improved.

公开(公告)号：US20210200961A1

公开(公告)日：2021-07-01

申请号：US17102395

申请日：2020-11-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chi Shao ,  Dongyan Huang ,  Wan Ding ,  Youjun Xiong

IPC: G06F40/35 ,  G06F40/284 ,  G06N3/04

Abstract: The present disclosure discloses a context-based multi-turn dialogue method. The method includes: obtaining to-be-matched historical dialogue information; performing a word feature extraction based on the to-be-matched historical dialogue information to obtain a historical dialogue word embedding; obtaining candidate answer information; performing the word feature extraction based on the candidate answer information to obtain a candidate answer word embedding; obtaining a historical dialogue partial matching vector and a candidate answer partial matching vector by performing partial semantic relationship matching based on the historical dialogue word embedding and the candidate answer word embedding; obtaining a candidate answer matching probability by performing a matching probability calculation based on the historical dialogue partial matching vector and the candidate answer partial matching vector; and determining matched answer information based on the candidate answer information and the candidate answer matching probability.

公开(公告)号：US20210200224A1

公开(公告)日：2021-07-01

申请号：US17109099

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

公开(公告)号：US20210197384A1

公开(公告)日：2021-07-01

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

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：US11045953B2

公开(公告)日：2021-06-29

申请号：US16427349

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Jian Zhang ,  Yongsheng Zhao ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocalization result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.