公开(公告)号：US20230266764A1

公开(公告)日：2023-08-24

申请号：US18113624

申请日：2023-02-24

Applicant: Ubtech Robotics Corp Ltd

Inventor： ZHIHAO ZHANG ,  Yizhang Liu ,  Huan Tan ,  Youjun Xiong

IPC: G05D1/02 ,  G06T7/73

CPC classification number: G05D1/0214 ,  G06T7/75 ,  G06T2200/04

Abstract: A path generation method for a robot includes: based on a scene model of a current scene and a machine model corresponding to the robot, combined with multiple configurations of the robot, determining a plurality of initial points between a start point and an end point in the scene model; removing redundant points from the plurality of the initial points to obtain necessary points among the initial points; and connecting the necessary points to obtain a path between the start point and the end point.

公开(公告)号：US20230266763A1

公开(公告)日：2023-08-24

申请号：US18079807

申请日：2022-12-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dunhao Liu ,  Youjun Xiong ,  Huan Tan

IPC: G05D1/02 ,  G01C21/20

CPC classification number: G05D1/0214 ,  G01C21/20

Abstract: A method for navigating a robot through a limited space includes: obtaining a planned first path for the robot to reach a target position; calculating curvature and/or normal vectors of points in the first path; according to the curvature and a preset curvature threshold, and/or according to the normal vectors and a preset normal vector change threshold, obtaining a first straight path for the robot outside the limited space by curve fitting; determining an intersection of a centerline of the limited space and the first straight path, and determining a second straight path for the robot to move through the limited space according to the centerline and the intersection; and generating a second path for the robot to move through the limited space based on the first straight path and the second straight path, and navigating the robot to move through the limited space according to the second path.

公开(公告)号：US11685043B2

公开(公告)日：2023-06-27

申请号：US16902205

申请日：2020-06-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chengkun Zhang ,  Liang Huang ,  Jianbo Li ,  Jingchen Li ,  Hongyu Ding ,  Wenhua Fan ,  Won Suk You ,  Raymond Ma ,  Muhammed Rasid Pac ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/04 ,  B25J17/00 ,  B25J13/08 ,  B25J19/00 ,  B25J9/12

CPC classification number: B25J9/046 ,  B25J13/085 ,  B25J13/086 ,  B25J17/00 ,  B25J19/0004 ,  B25J9/126

Abstract: A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.

公开(公告)号：US20230191606A1

公开(公告)日：2023-06-22

申请号：US18075426

申请日：2022-12-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Meihui Zhang ,  Yizhang Liu ,  Youjun Xiong ,  Huan Tan

IPC: B25J9/16

CPC classification number: B25J9/1674

Abstract: A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.

公开(公告)号：USD989145S1

公开(公告)日：2023-06-13

申请号：US29814351

申请日：2021-11-05

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Designer： Francisco Jose Hernandez ,  ChengKun Zhang ,  Huan Tan

Abstract: FIG. 1 is a first perspective of a disinfecting robot showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof;
FIG. 8 is a bottom plan view thereof; and,
FIG. 9 is a perspective view of the disinfecting robot with an upper part retracted.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.

公开(公告)号：US20220371187A1

公开(公告)日：2022-11-24

申请号：US17325221

申请日：2021-05-20

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Inventor： Yang Shen ,  Dejun Guo ,  ChengKun Zhang ,  Huan Tan

IPC: B25J9/16

Abstract: A design method of serial manipulator that comprises an end effector, a number of random-access links, and a number of motors, includes: obtaining a desired motion profile of the end effector; discretizing the desired motion profile into a plurality of points, wherein each of the points carries information of speed, acceleration, and force/torque of the end effector at the point; determining the number of degrees of freedom of the serial manipulator, and initializing the length of each of the links and the motor type of each of the motors; and at each of the points, optimizing the initialized lengths of the links and the motor types of the motors by calculating a dynamic manipulability ellipsoid at the end effector, to obtain desired lengths of the links and desired motor types of the motors, which allows the end effector to execute the desired motion profile under predetermined constraints.

公开(公告)号：USD963722S1

公开(公告)日：2022-09-13

申请号：US29797012

申请日：2021-06-28

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Designer： Francisco Jose Hernandez ,  Brandon Jon LaPlante ,  Jiexin Cai ,  ChengKun Zhang ,  Huan Tan

公开(公告)号：USD932530S1

公开(公告)日：2021-10-05

申请号：US29738499

申请日：2020-06-18

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Brandon Jon LaPlante ,  Liang Huang ,  Chengkun Zhang ,  Jianbo Li ,  Jingchen Li ,  Francisco Jose Hernandez ,  Shixun Chen ,  Hongyu Ding ,  Wenhua Fan ,  Xinshui Huang ,  Huan Tan ,  Youjun Xiong

公开(公告)号：USD921083S1

公开(公告)日：2021-06-01

申请号：US29734166

申请日：2020-05-09

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Francisco Jose Hernandez ,  Brandon Jon LaPlante ,  Shixun Chen ,  Chengkun Zhang ,  Huan Tan ,  Youjun Xiong

公开(公告)号：US20240416177A1

公开(公告)日：2024-12-19

申请号：US18209425

申请日：2023-06-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Sheryl Suet Ying Chau ,  Robert Malate ,  Chengkun Zhang ,  Huan Tan

IPC: A63B24/00

Abstract: A user exercise detection method applicable in a robot includes: obtaining first measurement data from at least one inertial measurement unit (IMU) sensor that is arranged at a designated body part of the user, and detecting a posture of the user relative to the robot based on the first measurement data; obtaining second measurement data from the at least one IMU sensor, and determining whether an exercise of the user corresponding to the posture is detected according to a preset threshold parameter and the second measurement data; in response to detection of the exercise, obtaining exercise data when the user performs the exercise multiple times through the at least one IMU sensor; and adjusting the threshold parameter according to the exercise data.