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公开(公告)号：US11474204B2
公开(公告)日：2022-10-18
申请号：US16699765
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Jian Zhang , Youjun Xiong , Jianxin Pang
IPC: G01S7/48 , G01S17/931 , G06K9/62
Abstract: The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.
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公开(公告)号：US11461958B2
公开(公告)日：2022-10-04
申请号：US17216719
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xi Luo , Mingguo Zhao , Youjun Xiong
Abstract: A scene data obtaining method as well as a model training method and a computer readable storage medium using the same are provided. The method includes: building a virtual simulation scene corresponding to an actual scene, where the virtual simulation scene is three-dimensional; determining a view frustum corresponding to preset view angles in the virtual simulation scene; collecting one or more two-dimensional images in the virtual simulation scene and ground truth object data associated with the one or more two-dimensional images using the view frustum corresponding to the preset view angles; and using all the two-dimensional images and the ground truth object data associated with the one or more two-dimensional images as scene data corresponding to the actual scene. In this manner, the data collection does not require manual annotation, and the obtained data can be used for training deep learning-based perceptual models.
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公开(公告)号：US11418023B2
公开(公告)日：2022-08-16
申请号：US16535112
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Sheng Zhou , Malin Wang , Wenhua Fan , Jianxin Pang
Abstract: A current protection circuit for a high voltage system includes: a power supply module to supply power to a load through a high voltage bus and a low voltage bus; a detection module connected to the high voltage bus and used to detect a value of current flowing through the high voltage bus; a signal processing module electrically connected to the detection module and used to amplify the current flowing through the high voltage bus; and a control module electrically connected to the signal processing module, the power supply module, and the load, and used to disconnect the load from the power supply module or perform current limiting for the load when the value of the amplified current exceeds a preset threshold.
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公开(公告)号：US20220193899A1
公开(公告)日：2022-06-23
申请号：US17488341
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
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公开(公告)号：US20220143841A1
公开(公告)日：2022-05-12
申请号：US17095758
申请日：2020-11-12
Inventor： Won Suk You , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.
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Patent Agency Ranking
公开(公告)号：US11325264B1
公开(公告)日：2022-05-10
申请号：US17095758
申请日：2020-11-12
Inventor： Won Suk You , Chengkun Zhang , Huan Tan , Youjun Xiong
Abstract: A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.
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公开(公告)号：US11287825B2
公开(公告)日：2022-03-29
申请号：US16576794
申请日：2019-09-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Youjun Xiong , Jian Zhang
Abstract: The present disclosure provides a path tracking method as well as a mobile robot using the same. The method includes: obtaining a preset path and a current position of the mobile device; determining a forward-looking path point corresponding to the current position on the preset path; obtaining a path curvature corresponding to the forward-looking path point; and determining an adjustment velocity of the mobile device at the current position based on the path curvature corresponding to the forward-looking path point. In this manner, the adjustment velocity of the mobile device can be determined based on the curvature of the path, so as to adjust the velocity of the mobile device and improve the stability of path tracking of the mobile device at different path curvatures.
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公开(公告)号：US11282503B2
公开(公告)日：2022-03-22
申请号：US17095751
申请日：2020-11-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ruotong Wang , Dongyan Huang , Xian Li , Jiebin Xie , Zhichao Tang , Wan Ding , Yang Liu , Bai Li , Youjun Xiong
Abstract: The present disclosure discloses a voice conversion training method. The method includes: forming a first training data set including a plurality of training voice data groups; selecting two of the training voice data groups from the first training data set to input into a voice conversion neural network for training; forming a second training data set including the first training data set and a first source speaker voice data group; inputting one of the training voice data groups selected from the first training data set and the first source speaker voice data group into the network for training; forming the third training data set including the second source speaker voice data group and the personalized voice data group that are parallel corpus with respect to each other; and inputting the second source speaker voice data group and the personalized voice data group into the network for training.
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公开(公告)号：US20220068109A1
公开(公告)日：2022-03-03
申请号：US17138944
申请日：2020-12-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yusheng Zeng , Yepeng Liu , Jun Cheng , Jianxin Pang , Youjun Xiong
Abstract: A mask wearing status alarming method, a mobile device, and a computer readable storage medium are provided. The method includes: performing a face detection on an image to determine face areas each including a target determined as a face; determining a mask wearing status of the target in each face area; confirming the mask wearing status of the target in each face area using a trained face confirmation model to remove the face areas comprising the target being mistakenly determined as the face and determining a face pose in each of the remaining face areas to remove the face areas with the face pose not meeting a preset condition, in response to determining the mask wearing status as a not-masked-well status or a unmasked status; and releasing an alert corresponding to the mask wearing status of the target in each of the remaining face areas.
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公开(公告)号：US11260528B2
公开(公告)日：2022-03-01
申请号：US16726196
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wenzhi Xu , Xiangbin Huang , Wenxue Xie , Youjun Xiong
Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.
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