公开(公告)号：US10852139B2

公开(公告)日：2020-12-01

申请号：US16030843

申请日：2018-07-09

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Longbiao Bai ,  Zhichao Liu ,  Zhanjia Bi

IPC: G06F17/00 ,  G06F17/10 ,  G01C21/16 ,  H04W4/02 ,  G05B19/402 ,  G05D1/02 ,  G01C21/20

Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.

公开(公告)号：US10823582B2

公开(公告)日：2020-11-03

申请号：US16141987

申请日：2018-09-26

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Wenhua Fan ,  Yongping Zeng ,  Sheng Zhou

IPC: G01D5/12 ,  G01D5/244

Abstract: The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.

公开(公告)号：US10821606B2

公开(公告)日：2020-11-03

申请号：US15856052

申请日：2017-12-27

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Haiwu Su

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G01M1/30 ,  G01M1/12

Abstract: The present disclosure is applicable to robot technology. A method for robot fall prediction, and a robot are provided. The method includes: searching a weighted value of a center of gravity of the robot corresponding to a posture of the robot, according to a preset first corresponding relationship; correcting an offset of the center of gravity of the robot based on the weighted value of the center of gravity of the robot; correcting an acceleration of the robot based on an offset direction of the center of gravity of the robot; and determining whether the robot will fall based on the corrected offset of the center of gravity, the offset direction of the center of gravity, and the corrected acceleration of the robot. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.

公开(公告)号：US10821604B2

公开(公告)日：2020-11-03

申请号：US15853600

申请日：2017-12-22

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Haiwu Su

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16

Abstract: The present disclosure is applicable to robot technology. A method for robot posture detection and a robot are provided. The method includes: obtaining a position parameter of each of nodes of a robot; obtaining a first weighted value of each of the nodes corresponding to the position parameter of the corresponding node; calculating a weighted value of each of body parts of the robot based on the first weighted value of the node of the corresponding body part; and correcting an original parameter of a center of gravity of the robot according to a body gravity center influence factor of each of the body parts, and the weighted value of each of the body parts.

公开(公告)号：US10776306B2

公开(公告)日：2020-09-15

申请号：US16232056

申请日：2018-12-26

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jialong Kuang ,  Rui Gu

IPC: G06F13/42 ,  H04L5/16

Abstract: The present disclosure provides a serial port communication mode conversion method, system, and circuit for a serial port circuit, in which the serial port circuit includes a first serial port and a second serial port, a transmission signal line of the first serial port and a reception signal line of the second serial port are connected to form a half-duplex signal line. The method includes: configuring the second serial port to enable after a preset time; controlling the first serial port to transmit a control signal to an external device through the half-duplex signal line within the preset time; and controlling the second serial port to receive response data transmitted by the external device through the half-duplex signal line after the preset time. The present disclosure realizes the conversion of the full-duplex serial port to the half-duplex serial port.

公开(公告)号：US10774908B2

公开(公告)日：2020-09-15

申请号：US16288117

申请日：2019-02-28

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xinpu Chen ,  Zuyi Mao ,  Gao Yang ,  Defu Liu

IPC: A63H3/00 ,  F16H21/32 ,  F16H19/00 ,  B25J9/10 ,  B25J9/12

Abstract: A head of a robot includes a head housing, a lace panel connected to the head housing, a mask moveably connected to the head housing, a mounting frame arranged within the head housing, a first servo connected to the mounting frame, and a first transmission mechanism to transmit motion from the first servo to the mask so as to move the mask between a first position where the mask covers the face panel and a second position where the mask is lifted to expose the face panel.

公开(公告)号：US10773395B2

公开(公告)日：2020-09-15

申请号：US16285169

申请日：2019-02-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Zuyi Mao ,  Xinpu Chen ,  Gao Yang ,  Defu Liu

IPC: B25J18/04 ,  B25J17/02 ,  A63H3/46 ,  B25J18/00 ,  B25J18/06 ,  A63H13/00

Abstract: An arm assembly includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, and a forearm transmission member comprising a first end rotatable with respect to the chest and a second end coupled to the forearm. The upper arm, the forearm and the forearm transmission member are arranged in such a way that the forearm rotates when the upper arm rotates with respect to the chest.

公开(公告)号：US10744643B2

公开(公告)日：2020-08-18

申请号：US15960571

申请日：2018-04-24

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Zhenmin Mo

IPC: B25J9/16 ,  G05B13/02 ,  B25J9/12

Abstract: The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.

公开(公告)号：US10725796B2

公开(公告)日：2020-07-28

申请号：US16223138

申请日：2018-12-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Ruiqiang Huang

IPC: G06F9/448 ,  G06F16/903 ,  G06F9/455

Abstract: The present disclosure provides a task management method for a robot, a robot using the same, and a computer readable storage medium. The method includes: obtaining a current task of the robot, in response to receiving a request for executing a new task of the robot; querying the preset state table according to the new task and the current task to determine whether to switch the robot from the current task to the new task: and switching the robot from the current task to the new task, in response to determining to switch. In this way, the stability of the operation of the robot can be improved, and the efficiency of the robot to execute tasks can be improved.

公开(公告)号：US20200210038A1

公开(公告)日：2020-07-02

申请号：US16699744

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liming Zhu ,  Youjun Xiong

IPC: G06F3/0488 ,  G06T1/60 ,  G06F3/0484 ,  H05B45/20

Abstract: The present disclosure provides a robot eye lamp control method as well as an apparatus and a terminal device using the same. The method includes: loading a simulation image corresponding to an cut shape of the eye lamp of the robot onto a display interface of a terminal device remotely connected with the robot; detecting a color setting instruction issued to each color block area in the simulation image by a user, and generating combined parameter information comprising each color value in response to having received a color confirmation instruction issued by the user, and transmitting the combined parameter information to the robot so that the robot performs a light control on the eye lamp based on the combined parameter information. The present disclosure guarantees that the robot will respond to an interactive instruction only when the light display effect and the actual demand of the user matches.