公开(公告)号：US11919162B2

公开(公告)日：2024-03-05

申请号：US17134155

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wei He ,  Youjun Xiong

IPC: G06F13/40 ,  A63H33/04 ,  B25J9/16

CPC classification number: B25J9/1617 ,  A63H33/04 ,  G06F13/4068 ,  G05B2219/40304

Abstract: An identification (ID) number setting method for a modular device that comprises a master building element and a plurality of slave building elements that are connected to the master building element, includes: disconnecting the slave building elements from the master building element; setting ID numbers of all of the slave building elements to be a preset ID number; and assigning new ID numbers to slave building elements of N tiers that are connected to one output interface of the master building element in an order from first tier to Nth tier, wherein the slave building elements of the first tier are slave building elements that are directly connected to the output interface, the slave building elements of the Nth tier are slave building elements that are indirectly connected to the output interface through slave building elements of a (N−1)th tier, N is a natural number greater than 1.

公开(公告)号：US20240053168A1

公开(公告)日：2024-02-15

申请号：US18232791

申请日：2023-08-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YONGSHENG ZHAO ,  Yu Tang

IPC: G01C21/00

CPC classification number: G01C21/3837

Abstract: A mapping method for a robot includes: detecting a plurality of linear trajectories of the robot in a process of building a map; inserting a positioning key frame corresponding to each of the linear trajectories, wherein the positioning key frame comprises, when the robot is located on a corresponding one of the linear trajectories, a first pose in a positioning coordinate system, and a second pose in a map coordinate system; and for each two adjacent ones of the linear trajectories, according to one of the first poses determined according to a displacement between the positioning key frames of the two adjacent ones of the linear trajectories, performing optimization of loop closure constraints on the second poses of the positioning key frames, and generating a map based on the optimized positioning key frames.

公开(公告)号：US11901668B2

公开(公告)日：2024-02-13

申请号：US16926634

申请日：2020-07-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wei He ,  Youjun Xiong

IPC: H01R13/62 ,  B25J9/08 ,  B25J13/08 ,  B25J19/00 ,  H01R13/66

CPC classification number: H01R13/6205 ,  B25J9/08 ,  B25J13/087 ,  B25J19/0025 ,  H01R13/6683

Abstract: A modular device includes a polyhedral building element having a first type connector and a number of second type connectors; and a main control module comprising a plurality of second type connectors. The first type connector and the second type connectors are disposed on side surfaces of the building element. One of the second type connectors of the main control module is used to magnetically connect with the first type connector of the building element so as to detachably connect the building element to the main control module. The first type connector includes a first detection circuit, and each second type connector includes a second detection circuit.

公开(公告)号：US20240017404A1

公开(公告)日：2024-01-18

申请号：US18371472

申请日：2023-09-22

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1628

Abstract: A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.

公开(公告)号：US20240009841A1

公开(公告)日：2024-01-11

申请号：US18217662

申请日：2023-07-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jindi Zhang ,  Youjun Xiang ,  Meihui Zhang

IPC: B25J9/16 ,  B25J17/00

CPC classification number: B25J9/1664 ,  B25J9/161 ,  B25J17/00

Abstract: A dynamic target tracking method for a robot having multiple joints includes: obtaining a motion state of a tracked dynamic target in real time; performing motion prediction according to the motion state at a current moment to obtain a predicted position of the dynamic target; performing lag compensation on the predicted position to obtain a compensated predicted position; performing on-line trajectory planning according to the compensated predicted position to obtain planning quantities of multi-step joint motion states at multiple future moments, and determining a multi-step optimization trajectory according to the planning quantities and a multi-step optimization objective function; and controlling the joints of the robot to according to the multi-step optimization trajectory.

公开(公告)号：US20230415355A1

公开(公告)日：2023-12-28

申请号：US18243669

申请日：2023-09-08

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： ZHONGKUI HUANG ,  Hongyu Ding ,  Xixiang Luo ,  Ming Chen ,  Wenhua Fan

IPC: B25J15/00 ,  B25J15/02

CPC classification number: B25J15/0009 ,  B25J15/022

Abstract: A linkage mechanism includes: a base member; a first link having a first end rotatably connected to the base member; a second link rotatably connected to the first link; a connecting member rotatably connected to the base member and the second link; an actuating mechanism having a linear actuator, a pushing member, and a transmission member, the pushing member slidably connected to the output shaft, the pushing member having a pushing surface, the transmission member including a first end hinged to the pushing member, and a second end pivoted to the first end of the first link. When the output shaft extends to push the pushing surface, the pushing member moves and the first link rotates relative to the base member.

公开(公告)号：US11850747B2

公开(公告)日：2023-12-26

申请号：US17112569

申请日：2020-12-04

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Miaochen Guo ,  Jun Cheng ,  Jingtao Zhang ,  Shuping Hu ,  Dong Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J19/02 ,  G06N3/08

CPC classification number: B25J9/161 ,  B25J9/1697 ,  B25J19/023 ,  G06N3/08

Abstract: The present disclosure provides an action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting a plurality of action images of a to-be-imitated object; processing the action images through a pre-trained convolutional neural network to obtain a position coordinate set of position coordinates of a plurality of key points of each of the action images; calculating a rotational angle of each of the linkages of the to-be-imitated object based on the position coordinate sets of the action images; and controlling a robot to move according to the rotational angle of each of the linkages of the to-be-imitated object. In the above-mentioned manner, the rotational angle of each linkage of the to-be-imitated object can be obtained by just analyzing and processing the images collected by an ordinary camera without the help of high-precision depth camera.

公开(公告)号：US20230398684A1

公开(公告)日：2023-12-14

申请号：US18236395

申请日：2023-08-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIAJUN WANG ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

CPC classification number: B25J9/1628 ,  B25J13/085 ,  B25J9/1607 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A method for detecting contact of a swinging leg of a robot with ground includes: obtaining a torque on each joint of the swinging leg when the robot is in a swing phase; estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot; and determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.

公开(公告)号：US20230386244A1

公开(公告)日：2023-11-30

申请号：US18078027

申请日：2022-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： SHUPING HU ,  Kan Wang ,  Huan Tan ,  Jianxin Pang

IPC: G06V40/10 ,  G06V10/776 ,  G06V10/74

CPC classification number: G06V40/103 ,  G06V10/776 ,  G06V10/761

Abstract: A person re-identification method, a storage medium, and a terminal device are provided. In the method, a preset ratio-based triplet loss function is used as a loss function during training The ratio-based triplet loss function limits a ratio of a positive sample feature distance to a negative sample feature distance to be less than a preset ratio threshold. The positive sample feature distance is a distance between a reference image feature and a positive sample image feature, and the negative sample feature distance is a distance between the reference image feature and a negative sample image feature. Compared with the existing absolute distance-based triplet loss function, in the case of small inter-class differences and large intra-class differences, the ratio-based triplet loss function can effectively improve the stability of model training, the features extracted by the trained model are more discriminative and robust, thereby improving the accuracy of person re-identification results.

公开(公告)号：US11780085B2

公开(公告)日：2023-10-10

申请号：US17107966

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Mingguo Zhao ,  Yuesong Wang ,  Youjun Xiong

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

CPC classification number: B25J9/163 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1638 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.