公开(公告)号：US10518408B2

公开(公告)日：2019-12-31

申请号：US15296084

申请日：2016-10-18

Applicant: UBTECH Robotics Corp.

Inventor： Yang Wang ,  Youjun Xiong ,  Wenquan Shu

IPC: B25J9/12 ,  B25J9/08 ,  B25J17/00

Abstract: The present invention discloses a robot joint structure that includes a servo and a connection part. The servo includes a servo main body and an output shaft, and one end of the output protruding out of the servo main body. The servo main body includes a servo plate at one side surface thereof. The servo plate is fixed to the output shaft and capable of rotating together with the output shaft. The connection part includes a first connection arm, and the first connection arm defines at least one connection chamber allowing the servo plate to be inserted therein and mating tightly with the servo plate, to fix the connection part to the servo plate. The servo and the connection part of the robot joint structure mate tightly with each other, which avoids the disengagement during rotation. The assembling process is simple, which enhances the user experience.

公开(公告)号：US10518184B2

公开(公告)日：2019-12-31

申请号：US16059041

申请日：2018-08-09

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xinpu Chen ,  Lefeng Liu ,  Tanfu Xiao

IPC: A63H3/46 ,  A63H13/00 ,  A63H11/00 ,  B25J19/00 ,  B25J11/00

Abstract: An assembly for a robot includes a shoulder, an arm rotatably connected to the shoulder, an armor decorative member connected to the arm and located adjacent to the shoulder, and a connection assembly located between and rotatably connected to the arm and the armor decorative member. Relative rotation between the arm and the connection assembly and between the armor decorative member and the connection assembly enables the arm to continue to rotate after an upper end of the armor decorative member comes into contact with the shoulder.

公开(公告)号：US10411483B2

公开(公告)日：2019-09-10

申请号：US15828389

申请日：2017-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Haiyue Yan

IPC: H02J7/00

Abstract: The present disclosure relates to a recharging dock and a robot. The recharging dock may include: a recharging dock body and at least a pair of recharging contact pads configured on at least one side of the recharging dock body, at least one recharging switch circuit connecting to at least one recharging power supply respectively, and a sensing circuit. The sensing circuit is configured to turn on the recharging switch circuit upon detecting a magnetic component of a robot, and the recharging power supply may output a recharging voltage to the recharging contact pads. As such, the safety of the recharging dock of the robot may be improved.

公开(公告)号：US10379510B2

公开(公告)日：2019-08-13

申请号：US15394824

申请日：2016-12-30

Applicant: UBTECH Robotics Corp.

Inventor： Tingshuang Huang ,  Lifu Zhang ,  Youjun Xiong

IPC: G05B19/04 ,  G05B19/042

Abstract: The present disclosure discloses a command control in a multi-servo feedback control system. The command control includes: a servo acquiring preset delay time when a first action command is received from a main controller via serial data bus; the servo sending feedback information to the main controller after the preset delay time; wherein the preset delay time of the plurality of servos are different from each other, and the feedback information is configured to identify work status of the servo; receiving a second action command from the main controller; performing actions corresponding to the second action command and sending the feedback information to the main controller after the preset delay time if the second action command is valid. A servo and a multi-servo feedback control system for performing the command control are also provided.

公开(公告)号：US10377037B2

公开(公告)日：2019-08-13

申请号：US15319793

申请日：2016-09-06

Applicant: UBTECH Robotics Corp.

Inventor： Xuchao Du ,  Wenquan Shu ,  Youjun Xiong

IPC: F16H1/46 ,  B25J9/10 ,  B25J17/00 ,  F16H57/08 ,  F16H1/28 ,  F16H57/02 ,  F16H37/04

Abstract: The present disclosure provides a speed reduction device, a joint servo and a robot. The speed reduction device includes a driving device, a first stage speed reduction assembly and a second speed reduction assembly. The first speed reduction assembly includes a power gear and a face gear. The second speed reduction assembly includes a sun gear that rotates coaxially with the face gear, a planet gear set driven to rotate by the sun gear, a fixed gear, an output gear for outputting power and a fixed shaft. The speed reduction device uses the first speed reduction assembly and the second speed reduction assembly for power transmission and is compact in structure and has a high single stage transmission ratio.

公开(公告)号：US20190217464A1

公开(公告)日：2019-07-18

申请号：US16212619

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Hao Dong ,  Yuesong Wang ,  Mingguo Zhao

IPC: B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B25J13/08

CPC classification number: B25J9/0006 ,  B25J9/0009 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  B62D57/032

Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.

公开(公告)号：US20190206117A1

公开(公告)日：2019-07-04

申请号：US16231978

申请日：2018-12-25

Applicant: UBTECH ROBOTICS CORP.

Inventor： Youjun XIONG ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T15/20 ,  G06T5/00 ,  G06T7/194 ,  G06T5/50

CPC classification number: G06T15/205 ,  G06T5/002 ,  G06T5/50 ,  G06T7/194 ,  G06T2207/10028 ,  G06T2207/20221

Abstract: The present disclosure provides an image processing method, an intelligent terminal, and a storage device. The image processing method may include: obtaining an original image, and obtaining mask information of a target object from the original image, wherein the mask information includes classification information for foreground and background of the target object; denoising the original image to obtain a denoised image of the original image; and obtaining a target image from the denoised image according to the mask information of the target object. The present disclosure can improve the quality of the image by denoising the original image, and the obtained target image can be a minimum-sized image including all the information of the target object. Because the size of the image is reduced without losing valid information, the calculation amount of the 3D synthesis can be greatly reduced.

公开(公告)号：US20190199834A1

公开(公告)日：2019-06-27

申请号：US15891380

申请日：2018-02-08

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Haiwu Su ,  Lin Chen

IPC: H04L29/06

Abstract: The present disclosure provides a method, an apparatus and a terminal device for communication protocol compatibility. The method includes: receiving an external protocol list transmitted by an external device and retrieving a locally stored local protocol list; taking one of a same version information of the external protocol list and the local protocol list as matched version information, if the external protocol list and the local protocol list have the same version information; and taking the local protocol corresponding to the snatched version information as the protocol for communicating with the external device, and transmitting the matched version information to the external device. As a result, when the terminal device and the external device have the same communication protocol, they can perform data exchange using the same communication protocol automatically, which reduces the possibility of the incompatibility in the communication protocol so as to improve the communication success rate.

公开(公告)号：US20190197735A1

公开(公告)日：2019-06-27

申请号：US16205348

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T7/80 ,  H04N13/271 ,  H04N13/257 ,  H04N13/246

CPC classification number: G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20024 ,  G06T2207/20076 ,  H04N13/246 ,  H04N13/257 ,  H04N13/271

Abstract: The present disclosure provides a method and an apparatus for image processing, and a robot using the same. The method includes: obtaining a depth map and a color map of a target object in a predetermined scene; filtering the depth map based on the color map to obtain a first depth filter map; detecting pixel values of pixels in the first depth filter map to obtain one or more first pixels, and forming a black dot cavity area based on the one or more first pixels; re-assigning a depth value of each of the one or more first pixels in the black dot cavity area according to a preset rule to obtain the depth map after repair; and filtering the depth map after repair to obtain a second depth filter map. The present disclosure is capable of improving the quality of the depth map.

公开(公告)号：US20190186954A1

公开(公告)日：2019-06-20

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

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.