公开(公告)号：US10942502B2

公开(公告)日：2021-03-09

申请号：US16581791

申请日：2019-09-25

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G05B19/23 ,  G05B19/4062

Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.

公开(公告)号：US20210008730A1

公开(公告)日：2021-01-14

申请号：US16561033

申请日：2019-09-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XU HU ,  Peng Nie ,  Wei Fang ,  Jiawen Hu ,  Youjun Xiong

IPC: B25J13/08 ,  G05D1/02 ,  G05B19/18

Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.

公开(公告)号：USD896291S1

公开(公告)日：2020-09-15

申请号：US29696848

申请日：2019-07-01

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Dingkai Xing ,  Zuyi Mao ,  Zihong Yao ,  Youjun Xiong

公开(公告)号：US20200209890A1

公开(公告)日：2020-07-02

申请号：US16587069

申请日：2019-09-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: G05D1/08 ,  B25J13/08 ,  B25J9/16

Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as an initial value of a next centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.

公开(公告)号：US20200206958A1

公开(公告)日：2020-07-02

申请号：US16583273

申请日：2019-09-26

Applicant: Ubtech Robotics Corp Ltd

Inventor： Youjun Xiong ,  Meichun Liu ,  Youpeng Li

IPC: B25J17/00

Abstract: A joint of a robot includes a first servo assembly having a first housing and a first servo arranged within the first housing and comprising an output shaft; an ankle support having two ends rotatably connected to the first housing; and a bearing assembly to connect one of the two ends of the ankle support to the first housing. The bearing assembly includes a first connecting member fixed to the first housing, a second connecting member fixed to the one of the two ends of the ankle support, and a bearing to rotatably connect the first connecting member to the second connecting member. The other one of the two ends of the ankle support is connected to the output shaft of the first servo.

公开(公告)号：US20200206927A1

公开(公告)日：2020-07-02

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 relocal i/at ion 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.

公开(公告)号：US20200098158A1

公开(公告)日：2020-03-26

申请号：US16528645

申请日：2019-08-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Ding Peng ,  Jing Yang ,  Xiaomin Zheng ,  Xin Li ,  Qingchun Huang ,  Xing Xiao

IPC: G06T13/80 ,  G06T11/00 ,  G06F16/583 ,  G06F16/14

Abstract: The present disclosure provides an eye animated expression display method. The method includes: receiving an instruction for displaying an eye animated expression; parsing a JSON file storing the eye animated emoticon to obtain a parsing result; and displaying the eye animated emoticon on the eye display screen based on the parsing result. The present disclosure further provides a robot. In the above-mentioned manner, the present disclosure is capable of improving the interactive performance of the eyes of the robot while reducing the space for storing eye animated expressions.

公开(公告)号：US12179364B2

公开(公告)日：2024-12-31

申请号：US17566726

申请日：2021-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Jianxin Pang ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/16

Abstract: A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.

公开(公告)号：US12115673B2

公开(公告)日：2024-10-15

申请号：US18052535

申请日：2022-11-03

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Yizhang Líu ,  Youjun Xiong ,  Xianwen Zeng ,  Zhihao Zhang ,  Meihui Zhang ,  Chunyu Chen

IPC: G06F17/00 ,  B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/163

Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.

公开(公告)号：US20240181633A1

公开(公告)日：2024-06-06

申请号：US18075450

申请日：2022-12-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XIANWEN ZENG ,  Yizhang Liu ,  Xuan Luo ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1607 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1653 ,  B25J9/1664

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter, obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.