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21.发明申请公开(公告)号：US20180032794A1
公开(公告)日：2018-02-01
申请号：US15348641
申请日：2016-11-10
Applicant: UBTECH ROBOTICS CORP.
Inventor： YUAN JI , YOUJUN XIONG
CPC classification number: G06K9/00228 , B25J9/0003 , G06K9/00201 , G06K9/00268 , G06K9/4614 , G06K9/6278 , G06T7/0051 , G06T7/50
Abstract: A face detecting and tracking method includes: acquiring an image and performing a depth detection for the image to obtain a depth value of each pixel of the image; determining one or more face candidate areas based on depth value of each pixel of the image of current frame; performing a face detection to the one or more face candidate areas to determine one or more face boxes of the image of current frame; and determining a tracking box of the image of current frame based on the one or more face boxes and a tracked face box, and tracking the face in the tracking box of the image of current frame.
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公开(公告)号：US20200206935A1
公开(公告)日：2020-07-02
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: The present disclosure provides a servo calibration method as well as an apparatus and a robot using the same. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Through the present disclosure, the problem in the prior art that the process of the calibration is cumbersome can be solved.
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公开(公告)号：US20200206921A1
公开(公告)日：2020-07-02
申请号：US16236517
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Gaobo Huang , Xiangbin Huang
IPC: B25J9/16
Abstract: A robot movement control method and apparatus as well as a robot using the same are provided. The method includes: calculating a distance between a robot and each UWB base station; configuring an internal coordinate system according to a preset position of the UWB base station, and calculating a coordinate of the robot in the internal coordinate system according to a distance between the UWB base station and the robot; combining the coordinate of the robot in the internal coordinate system with localization information of an odometer provided on the robot to obtain a combined robot coordinate; and controlling the robot to move in accordance with a preset target position according to the combined robot coordinate. In such manner, UWB base station localization can be used to control the movement of a robot in a limited scene.
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公开(公告)号：US20190181719A1
公开(公告)日：2019-06-13
申请号：US15856055
申请日：2017-12-28
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Youpeng Li , Hongyu Ding
IPC: H02K7/00 , F16H57/021 , H02K7/116 , H02K11/30
Abstract: A servo assembly includes a housing, a motor, a control circuit board and a gear transmission mechanism that are arranged in the housing. The motor is electrically connected with the control circuit board. The gear transmission mechanism is rotatably connected with a motor output shaft of the motor and the servo output shaft. A servo output shaft has one end that is received in the housing and located above the control circuit board and an opposite end that extends out of the housing. A servo plate is connected to the end of the servo output shaft which is away from the control circuit board. The servo plate includes a connecting portion connected with the servo output shaft. An annular member is disposed between an end surface of the connecting portion and the housing, and the annular member is used to limit an abnormal rotation of the servo output shaft.
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公开(公告)号：US20190049983A1
公开(公告)日：2019-02-14
申请号：US15839837
申请日：2017-12-12
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Libing Zhou , Jibang Cui , Gaobo Huang
CPC classification number: G05D1/0225 , B25J19/005 , B60L53/00 , B60L53/14 , G05D1/0242 , G05D1/0255 , H02J7/0042 , Y10S901/01
Abstract: The present disclosure relates to a recharging robot system. The recharging robot system may include a signal emission device including at least one signal emission channel. The at least one signal emission channel each comprises an opening. A distance between two central axes of any two adjacent signal emission channels is gradually increased along a direction facing away the signal emitters. As such, an overlapping area of signal ranges of the at least two signal emitters may be reduced, and the robot may accurately determine which signal range that the robot is within, so as to accurately align with the recharging dock.
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Patent Agency Ranking
公开(公告)号：US20190001488A1
公开(公告)日：2019-01-03
申请号：US15719532
申请日：2017-09-28
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Meichun Liu , Feng Hu , Xinpu Chen , Xuchao Du , Wenquan Shu
CPC classification number: B25J9/126 , B25J9/0006 , B25J9/102 , B25J17/00 , Y10S901/23 , Y10S901/25
Abstract: A driving assembly for a joint of a robot includes a first driving source having a first output shaft; a second driving source; and a gear set including a first gear and second gear that are engaged with each other. The first gear is arranged around the first output shaft. An ankle assembly and a robot having the driving assembly are also provided.
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公开(公告)号：US20180345480A1
公开(公告)日：2018-12-06
申请号：US15663704
申请日：2017-07-29
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Xiaopeng Wu , Xinpu Chen
Abstract: A robot includes a body having a torso, a pair of arms and servos configured to drive the arms. A first end of each of the arms is movably connected to the torso via a corresponding one of the servos. An opposite, second end of each of the arms is connected with a hand. A first connection member is arranged on the body. A fake gun includes a second connection member that is magnetically attractable to the first connection member, and is connected to the body when the second connection member is attracted to the first connection member. One of the arms is rotatable and the hand of the one of the arms and the fake gun are configured in such a way that fake gun is detachably connected to the hand of the one of the arms when the one of the arms is rotated to a predetermined position.
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公开(公告)号：US20180336255A1
公开(公告)日：2018-11-22
申请号：US15715164
申请日：2017-09-26
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Lin Chen
IPC: G06F17/30
Abstract: The present disclosure relates to a data interaction method, including: receiving a search request from a service layer, and transmitting the search request to a search application server. The search application server is configured to manage the response data obtained from at least one third-party application. The method further includes receiving the response data transmitted from the search application server, and transmitting the response data to the service layer. As such, the time of accessing the third-party applications may be reduced, the data-accessing time may be reduced, and the data-accessing performance may be improved.
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公开(公告)号：US20180191611A1
公开(公告)日：2018-07-05
申请号：US15649590
申请日：2017-07-13
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Hailang Zhou , Musen Zhang
IPC: H04L12/721
CPC classification number: H04L45/72 , H04L12/403 , H04L2012/40215 , H04L2012/40273
Abstract: The present disclosure relates to a frame transmission method and a frame transmission device. The data frame includes an arbitration field and a data field. The arbitration field includes a frame mode indication sub-field indicating a frame mode of the data frame, and the data field includes an instruction sub-field indicating instruction messages carried the data frame. A great deal of information may be obtained by the configuration of the present disclosure, and thus the transmission efficiency may be enhanced.
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公开(公告)号：US20200206942A1
公开(公告)日：2020-07-02
申请号：US16669554
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YUESONG WANG , YOUJUN XIONG
Abstract: The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.
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