公开(公告)号：US20240004400A1

公开(公告)日：2024-01-04

申请号：US18211531

申请日：2023-09-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yulong Gu ,  Simin Zhang ,  Yun Zhao

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0248 ,  G05D1/0272 ,  G05D2201/0217

Abstract: A storage medium, a robot, and a method for generating navigation map are provided. By disposing a first lidar and a second lidar located higher than the first lidar, it constructs a first map corresponding to the first lidar based on first laser data collected by the first lidar, and calculate second positioning data corresponding to the second lidar during constructing the first map, constructs a second map corresponding to the second lidar based on the second positioning data and second laser data collected by the second lidar, and obtains a navigation map corresponding to the robot by fusing the first map with the second map, such that the fused map includes not only positioning information provided by the first map, but also obstacle information provided by the first map and the second map.

公开(公告)号：US20240001558A1

公开(公告)日：2024-01-04

申请号：US18369858

申请日：2023-09-19

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： SHUO ZHANG ,  Zheng Xie ,  Yizhang Liu ,  Zhihao Zhang ,  Yingfu Zeng ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697

Abstract: A robot calibration method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining operation space information of the execution end of the robot; obtaining operation space points after gridding an operation space of the robot by gridding the operation space based on the operation space information; obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement; and calibrating the hand and the image detection device of the robot based on the obtained calibration data. In this manner, the operation space points are determined by gridding the operation space based on the operation space information, and the execution end can be automatically controlled to move to the operation space points that meet the preset requirements so as to obtain the calibration data in an automatic and accurate manner, thereby simplifying the calibration process and improving the efficiency.

公开(公告)号：US11833673B2

公开(公告)日：2023-12-05

申请号：US17499890

申请日：2021-10-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongkui Huang ,  Zheng Xie ,  Hongyu Ding ,  Qixiang Luo

IPC: B25J19/00 ,  B25J9/10 ,  B25J9/12

CPC classification number: B25J19/0016 ,  B25J9/102 ,  B25J9/108 ,  B25J9/109 ,  B25J9/123

Abstract: An energy storing assistive mechanism includes a barrel having a first pivot end and an open end, a rod having a first end that passes through the open end and is received in the barrel, an elastic structure including two ends that abut against the first end of the rod and the first pivot end, a uni-directional gear rack having a second pivot end away from the barrel, and a locking mechanism fixed to the rod, the locking mechanism comprising a locking member and an actuator assembly that is to drive the locking member to move between a first position where the locking member is engaged with the gear rack, and a second position where the locking member is disengaged from the gear rack.

公开(公告)号：US20230373089A1

公开(公告)日：2023-11-23

申请号：US18230620

申请日：2023-08-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIAJUN WANG ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1661

Abstract: A method for controlling a robot includes: obtaining current motion state information of the robot and desired motion trajectory information corresponding to a target task; determining task execution coefficient matrices corresponding to the robot performing the target task according to the desired motion trajectory information and the motion state information; constructing matching dynamic constraints for task-driven parameters of the robot according to the desired motion trajectory information and the motion state information; constructing matching parameter distribution constraints for the task-driven parameters according to the motion state information and body action safety constraints corresponding to the target task; solving a pre-stored task execution loss function by using the task execution coefficient matrices to obtain the target-driven parameters satisfying the dynamic constraints and the parameter distribution constraints; and controlling operation state of each joint end effector of the robot according to the target-driven parameters.

公开(公告)号：US20230359207A1

公开(公告)日：2023-11-09

申请号：US18222448

申请日：2023-07-16

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： QIUYUE LUO ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Youjun Xiong

IPC: G05D1/02 ,  B25J11/00 ,  B25J9/10

CPC classification number: G05D1/0212 ,  B25J11/00 ,  B25J9/10

Abstract: A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.

公开(公告)号：US11759945B2

公开(公告)日：2023-09-19

申请号：US17547274

申请日：2021-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongyu Ding ,  Yisen Hu ,  Jian Li

IPC: B25J9/12 ,  B25J9/10 ,  B25J13/08

CPC classification number: B25J9/102 ,  B25J9/108 ,  B25J9/126 ,  B25J13/088

Abstract: A dual-output-shaft servo includes a housing including two first sensors and two actuating mechanisms. Each actuating mechanism includes a motor assembly, a speed reduction mechanism opposite the motor assembly, and a transmission mechanism arranged between the motor assembly and the speed reduction mechanism. The speed reduction mechanism includes an output component, and a connection shaft is fixed to the output component. A first sensor counterpart is attached to an end of the connection shaft which faces the motor assembly. The transmission mechanism is to transmit mechanical power from the motor assembly to the speed reduction mechanism. The axes of rotation of the output components of the speed reduction mechanisms are skew or intersected with each other.

公开(公告)号：US20230288526A1

公开(公告)日：2023-09-14

申请号：US18088755

申请日：2022-12-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YU TANG ,  Mingqiang Huang ,  Dunhao Liu ,  Tiecheng Sun ,  Jichao Jiao

IPC: G01S5/02

CPC classification number: G01S5/02525 ,  G01S5/0244

Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.

公开(公告)号：US11710277B2

公开(公告)日：2023-07-25

申请号：US17482450

申请日：2021-09-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Mingqiang Huang ,  Zhichao Liu ,  Youfang Lai ,  Yun Zhao

IPC: G06T19/00 ,  G06T19/20 ,  G06T15/50 ,  G06F16/29 ,  G06T7/73

CPC classification number: G06T19/003 ,  G06F16/29 ,  G06T7/73 ,  G06T15/50 ,  G06T19/20 ,  G06T2207/30244 ,  G06T2219/2004

Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.

公开(公告)号：US20230191604A1

公开(公告)日：2023-06-22

申请号：US18071462

申请日：2022-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Qiuyue Luo ,  Jiangchen Zhou ,  Meng Yan ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1664 ,  B25J9/1605 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.

公开(公告)号：US20230166400A1

公开(公告)日：2023-06-01

申请号：US17994394

申请日：2022-11-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XIANWEN ZENG ,  Yizhang LIU ,  Youjun XIONG

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1653 ,  B25J9/1664

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a linear motion model of a robot; determining a predicted state corresponding to each moment in a preset time period based on the linear motion model; determining an expected state corresponding to each moment in the preset time period; and determining a compensation value of a velocity of joint(s) at each moment from k-th moment to k+N−1-th moment based on the predicted state corresponding to each moment in the preset time period and the expected state corresponding to each moment in the preset time period, determining instruction parameter(s) at the k-th moment based on the compensation value of the velocity of the joint(s) at the k-th moment, and adjusting a position of each of the joint(s) of the robot according to the instruction parameter(s) at the k-th moment.