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公开(公告)号：US11067997B2
公开(公告)日：2021-07-20
申请号：US16236364
申请日：2018-12-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xi Luo , Sotirios Stasinopoulos
Abstract: The present disclosure provides a map generation method, localization method, and simultaneous localization and mapping method. The method includes: recognizing fiducial markers in the motion area; taking a position as origin of a global coordinate system of the robot, and obtaining pose information of the fiducial markers; the robot moving to a next position, recognizing the fiducial markers with determined coordinate information and underdetermined coordinate information respectively, and obtaining pose information of the fiducial marker of the undetermined coordinate information with respect to the origin based on that of the determined coordinate information; repeating the previous step until the pose information of all the fiducial markers are obtained; and generating a marker map associated with coordinate information of all fiducial markers. The method is capable of generating a map of the motion area through the fiducial markers and further realizing autonomous localization.
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252.发明申请公开(公告)号：US20210197371A1
公开(公告)日：2021-07-01
申请号：US17134565
申请日：2020-12-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Liqun Huang , Xiaoyu Ren , Yuesong Wang , Youjun Xiong
Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.
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公开(公告)号：US20210197370A1
公开(公告)日：2021-07-01
申请号：US17133575
申请日：2020-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong , Jianxin Pang
IPC: B25J9/16 , G05D1/02 , B62D57/032
Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.
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公开(公告)号：US11048262B2
公开(公告)日：2021-06-29
申请号：US16435580
申请日：2019-06-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Peng Nie , Youjun Xiong , Xu Hu , Xiangbin Huang
Abstract: The present disclosure provides a movement control method for a robot as well as an apparatus and a robot using the same. The method includes: obtaining a starting position and an ending position of the robot, in response to a movement instruction being detected; determining a movement path of the robot based on the starting position and the ending position; obtaining pass qualification information of the robot, if the movement path intersects a line corresponding to a preset virtual wall; and moving the robot to the ending position according to the movement path, if the pass qualification information identifying the robot is allowed to traverse the virtual wall. By obtaining the pass qualification information, the robot can return to the working area from the non-working area in the case of an abnormality, while ensuring that the robot does not actively traverse from the working area to the non-working area.
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255.发明申请公开(公告)号：US20210193113A1
公开(公告)日：2021-06-24
申请号：US17115729
申请日：2020-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Dongyan Huang , Leyuan Sheng , Youjun Xiong
IPC: G10L13/08 , G10L25/24 , G10L13/047
Abstract: The present disclosure provides a speech synthesis method as well as an apparatus and a computer readable storage medium using the same. The method includes: obtaining a to-be-synthesized text, and extracting to-be-processed Mel spectrum features of the to-be-synthesized text through a preset speech feature extraction algorithm; inputting the to-be-processed Mel spectrum features into a preset ResUnet network model to obtain first intermediate features; performing an average pooling and a first down sampling on the to-be-processed Mel spectrum features to obtain second intermediate features; taking the second intermediate features and the first intermediate features output by the ResUnet network model as an input to perform a deconvolution and a first up sampling so as to obtain target Mel spectrum features corresponding to the to-be-processed Mel spectrum features; and converting the target Mel spectrum features into a target speech corresponding to the to-be-synthesized text.
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Patent Agency Ranking
256.发明申请公开(公告)号：US20210192184A1
公开(公告)日：2021-06-24
申请号：US16805827
申请日：2020-03-01
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yusheng Zeng , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a face image quality evaluating method as well as an apparatus and a computer-readable storage medium using the same. The method includes: obtaining a face image; determining a local bright area in the face image, wherein the local bright area is formed by an illumination source in the face image, and the brightness of the local bright area is greater than the brightness of a face area in the face image; removing the local bright area from the face image; and evaluating a quality of the face image based on the face image having removed the local bright area. In the above-mentioned manner, the present disclosure improves the accuracy of the quality evaluation of the face image.
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公开(公告)号：US20210182633A1
公开(公告)日：2021-06-17
申请号：US17012016
申请日：2020-09-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Zhichao Liu , Yongsheng Zhao , Yu Tang , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.
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公开(公告)号：US20210154853A1
公开(公告)日：2021-05-27
申请号：US16734400
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGGE WANG , Ligang Ge , Yizhang Liu , Jie Bai , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robot motion control method as well as an apparatus and a robot using the same. The method includes: obtaining geometric parameter(s) of a target step, where the geometric parameters comprise a step width and a step height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate based on the geometric parameters; generating a motion trajectory by fitting the at least two time-displacement coordinates and the corresponding velocity vectors; and controlling feet of the robot to move based on the motion trajectory. In this manner, the feet of the robot can be prevented from colliding violently with the step during going up the step so as to improve the safety and stability.
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公开(公告)号：US20210154835A1
公开(公告)日：2021-05-27
申请号：US16734402
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Yun Zhao , Youjun Xiong , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.
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公开(公告)号：USD920411S1
公开(公告)日：2021-05-25
申请号：US29736275
申请日：2020-05-29
Applicant: UBTECH ROBOTICS CORP LTD
Designer： Chengxuan Zheng , Libing Zhou , Wenjin Ye , Youjun Xiong
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