公开(公告)号：US20190361664A1

公开(公告)日：2019-11-28

申请号：US16163582

申请日：2018-10-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Liyang Li ,  Yanhui Xia ,  Haoming Li

IPC: G06F3/16 ,  G10L19/00 ,  G10L15/22

Abstract: The present disclosure provides a robot and speech interaction recognition rate improvement circuit and method thereof. In the circuit, the main controller transmits a pre-recorded servo sound file to the first decoder in response to detecting the robot being in a motion state; the first decoder decodes the servo sound file to obtain a first sound analog signal of a servo sound; the analog-to-digital converter converts the first sound analog signal of the servo sound into a first sound digital signal, and converts a second sound analog signal collected by the microphone into a second sound digital signal; and the main controller further performs a suppression process on the servo sound in the second sound digital signal based on the first sound digital signal and the second sound digital signal. As a result, the influence of the sound of the servo of the robot is effectively reduced.

公开(公告)号：US10478967B2

公开(公告)日：2019-11-19

申请号：US15321728

申请日：2016-10-28

Applicant: UBTECH Robotics Corp.

Inventor： Dong Liu ,  Youjun Xiong

IPC: H02P6/20 ,  B25J9/12 ,  B25J9/00 ,  B25J13/00 ,  G05B15/02

Abstract: The present invention discloses a servo control system and a robot. The servo control system is applied to a servo and includes a main control module and a driving module including a driving circuit and an electronic switch circuit. The driving circuit is coupled to the main control module. The electronic switch circuit is coupled between the driving circuit and a driving motor of the servo. Wherein, the driving circuit receives a control signal outputted by the main control module and outputs a driving signal according to the control signal. The electronic switch circuit outputs a driving pulse to the driving motor according to the driving signal, to control the rotation of the driving motor. In the above manner, it can be convenient for heat dissipation and strengthens the driving capability.

公开(公告)号：US10469321B2

公开(公告)日：2019-11-05

申请号：US15669963

申请日：2017-08-07

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Hailang Zhou ,  Musen Zhang

IPC: H04L12/28 ,  H04L12/24 ,  H04L12/18 ,  H04L12/40 ,  B25J13/00 ,  H04L29/08

Abstract: The present disclosure relates to a channel configuration method for communication between the main controller of the robot and the at least one node of the robot, including: receiving at least one description message transmitted from at least one node via a broadcast channel, confirming a channel according to the description message of the node, wherein a main controller communicates with the node via the channel, and transmitting at least one channel configuration message via the broadcast channel. The channel configuration message carries the description message of the node and a description message of the channel. The main controller may communicate with the node via the channel.

公开(公告)号：US10397895B2

公开(公告)日：2019-08-27

申请号：US16161086

申请日：2018-10-16

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Yongsheng Zhao ,  Zhichao Liu

IPC: H04W64/00 ,  H04W48/20 ,  G01S5/02 ,  G01S5/00

Abstract: The present disclosure provides a range finding base station selection method and apparatus. The embodiments of the present disclosure are capable of eliminating the inappropriate base stations, so that the range finding from the base station to the tag can be accurate, thereby improving the accuracy of tag positioning.

公开(公告)号：US10384352B1

公开(公告)日：2019-08-20

申请号：US16233131

申请日：2018-12-27

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Kunlei Zhao ,  Wenhua Yu ,  Qi Zhao ,  Jiawen Hu ,  Yangyu Pi ,  Jianxin Pang

IPC: B25B15/00 ,  B25J15/06 ,  B25J15/08 ,  B25J15/00

Abstract: A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a rotating member that is rotatable with respect to the phalanx portion, a rope having two opposite ends respectively connected to one phalanx and the rotating member, a rotating cam driven by a driving device and having a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction, and an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction.

公开(公告)号：US10367440B2

公开(公告)日：2019-07-30

申请号：US15342122

申请日：2016-11-03

Applicant: UBTECH Robotics Corp.

Inventor： Tingshuang Huang ,  Youjun Xiong

IPC: H02P31/00 ,  H02K11/35 ,  H01H9/54 ,  G05B19/10 ,  G05B19/4093 ,  G05B19/414

Abstract: A servo actuator ID setting method is performed by a servo actuator controlling system. The servo actuator controlling system includes a master controller and a plurality of servo actuators. One servo actuator is set to disconnect to a next servo actuator. A plurality of interfaces of the master controller are selected to turn on in sequence. The following steps are repeatedly performed to set servo actuator ID: broadcasting a signal to replace an original ID of each of the plurality of servo actuators with a target ID; the plurality of servo actuators in each branch connecting to the master controller; and replacing the original ID of each of the plurality servo actuator with the target ID.

公开(公告)号：US20190202056A1

公开(公告)日：2019-07-04

申请号：US16026032

申请日：2018-07-02

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jinghua Tang

IPC: B25J9/16

Abstract: The present disclosure provides a robot motion path planning method, apparatus, and terminal device. The method includes planning a planned path for a robot in a current scene using an open motion planning library (OMPL) database, setting a shortest ideal path as an initial ideal path, calculating a new path between the planned path and the initial ideal path using a dichotomy method, determining whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene, making the new path as the new planned path if yes, otherwise determining the new path as a new ideal path, optimizing the planned path using the dichotomy method iteratively until an error between the planned path and the ideal path is within a preset range, and determining the planned path as a motion path of the robot, thereby improving the motion efficiency.

公开(公告)号：US20190202049A1

公开(公告)日：2019-07-04

申请号：US16212634

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Rixin Shen

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: The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P1 of an output shaft of the servo currently at and a first time T1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P2 for the output shaft of the servo to reach and a second time T2 for the output shaft of the servo to rotate from the first rotational angle P1 to the second rotational angle P2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P1, the second rotational angle P2, the first time T1, and the second time T2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.

公开(公告)号：US20190196493A1

公开(公告)日：2019-06-27

申请号：US15920467

申请日：2018-03-14

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Gaobo Huang ,  Jiawen Hu

IPC: G05D1/02

Abstract: The present disclosure provides a method, apparatus, and terminal device for cliff detection. The method includes: obtaining a detection distance matrix of distances between a camera of a target robot and a ground within a preset detection angle range collected by the camera; obtaining a difference matrix obtained by subtracting a theoretical distance matrix from the detection distance matrix; counting an amount of elements in the difference matrix being greater than a preset first threshold; and determining a cliff is detected if the counted amount of the elements is greater than a preset second threshold. Through the overall consideration of the distance matrix of the distances within the detection angle range, even if a certain part of the ground changes its external conditions such as the color depth and the lightness, the influences on the overall detection result is extremely limited, which makes the detection result more accurate and reliable.

公开(公告)号：US10307914B2

公开(公告)日：2019-06-04

申请号：US15448495

申请日：2017-03-02

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Wenquan Shu ,  Wenhua Yu ,  Qi Zhao ,  Youpeng Li

IPC: B25J17/00

Abstract: A robot includes a head, a shoulder, and a rotary structure. The head includes a housing and a fixing frame. Connection assemblies are disposed between the housing anti the fixing frame. Each of the connection assemblies has a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, and the flange is fixedly connected to the housing. The rotary structure includes an adapter rotatably connecting the fixing shaft about an axis of the fixing shaft and a drive source rotating the adapter. The adapter has an installation disc portion for connecting the shoulder and a drive portion for connecting the drive source.