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公开(公告)号：US20200206949A1
公开(公告)日：2020-07-02
申请号：US16370889
申请日：2019-03-30
Applicant: UBTECH Robotics Corp
Inventor： Sicong Liu , Youjun Xiong , Hongyu Ding , Qidong Xu , Jianxin Pang
Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.
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公开(公告)号：US20200206945A1
公开(公告)日：2020-07-02
申请号：US16556233
申请日：2019-08-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Jianxin Pang , Wanli Zhang , Jingtao Zhang
Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.
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公开(公告)号：US20200206914A1
公开(公告)日：2020-07-02
申请号：US16671164
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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公开(公告)号：US20200206898A1
公开(公告)日：2020-07-02
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
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.
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公开(公告)号：US20200184682A1
公开(公告)日：2020-06-11
申请号：US16548868
申请日：2019-08-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Wanli Zhang , Jianxin Pang
Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.
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Patent Agency Ranking
公开(公告)号：US10671080B2
公开(公告)日：2020-06-02
申请号：US16205248
申请日：2018-11-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jiawen Hu , Gaobo Huang , Caixia Li
Abstract: The present disclosure provides a data processing method and a robot with the same. The robot includes: an electromagnetic wave receiver configured to receive at least two electromagnetic wave signals transmitted by at least two electromagnetic wave transmitters on a charging device within a preset time range; a demodulator configured to demodulate the at least two electromagnetic wave signals received by the electromagnetic wave receiver to obtain at least two corresponding electromagnetic wave demodulation data; a processor configured to determine electromagnetic wave demodulation control data based on the at least two obtained electromagnetic wave demodulation data and preset electromagnetic wave demodulation data; and a controller configured to move the robot according to the electromagnetic wave demodulation control data until the robot is docked at the charging device. In the above-mentioned manner, the robot is facilitated to select the plurality of electromagnetic wave demodulation data to smoothen the docking process.
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公开(公告)号：US10667091B1
公开(公告)日：2020-05-26
申请号：US16396691
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong , Yu Tang
Abstract: The present disclosure provides a wireless positioning method as well as a server and a storage medium with the same. The method includes: obtaining a current ranging value between a first positioning device and a second positioning device, where there is no obstruction between the first positioning device and the second positioning device; determining a distance of the first positioning device and the second positioning device in a depth direction of a tunnel based on the current ranging value; and obtaining a current coordinate of the second positioning device based on the distance. In the above-mentioned manner, the automatic updating of the coordinate of the reference base station in the tunnel can be realized, the times of repeated measurements of the base station are reduced, thereby improving the construction efficiency of the tunnel and saving working loads.
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公开(公告)号：US10663034B2
公开(公告)日：2020-05-26
申请号：US15851719
申请日：2017-12-21
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Yong Fu , Hongyu Ding
Abstract: A brushless servo includes a housing, a motor, a printed circuit board (PCB), a servo output shaft and a gear transmission mechanism that are accommodated within the housing. The motor includes a motor output shaft that is arranged in parallel with the servo output shaft. The gear transmission mechanism includes a number of gearsets that connect the motor output shaft to the servo output shaft. Each gearset has a gear and a pinion that is smaller than the gear, and each of a first one of the gearsets and a last one of the gearsets is arranged in a manner that the gear is below the pinion thereof. Each of the rest of the gearsets is arranged in a manner that the gear is above the pinion thereof.
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公开(公告)号：US20200096343A1
公开(公告)日：2020-03-26
申请号：US16396690
申请日：2019-04-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Youjun Xiong
Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.
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公开(公告)号：US10564631B2
公开(公告)日：2020-02-18
申请号：US16140546
申请日：2018-09-25
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Mingzhao Li , Zhenmin Mo
IPC: G05B19/25 , G05B19/416 , G05B19/19 , G05B21/02
Abstract: A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second target motion curve to a second target end position from a corresponding target position on a first target motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second target end position according to the second target motion curve. When the second motion instruction is received, the servo is controlled to rotate from the target position to the second target end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.
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