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公开(公告)号：US20210046647A1
公开(公告)日：2021-02-18
申请号：US16713012
申请日：2019-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Lifu Zhang , Wenhua Fan , Hanyu Sun , Youjun Xiong , Jianxin Pang
IPC: B25J9/16
Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.
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公开(公告)号：US10819065B2
公开(公告)日：2020-10-27
申请号：US16445243
申请日：2019-06-19
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Wenhua Fan , Jianxin Pang
Abstract: An electronic building block includes a first side and a second side, a first magnet fixed to the first side and including a number of first magnet segments, a second magnet fixed to the second side and including a number of second magnet segments, a first power contact, a second power contact and a first communication contact arranged on the first side; and a third power contact, a fourth power contact and a second communication contact arranged on the second side and respectively coming into contact with the first power contact, the second power contact, and the first communication contact when the first magnet segments of one of two electronic building blocks is connected to the second magnet segments of the other of two electronic building blocks.
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公开(公告)号：US10783661B2
公开(公告)日：2020-09-22
申请号：US16416281
申请日：2019-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Youjun Xiong , Zhichao Liu
Abstract: The present disclosure provides a positioning method and a robot using the same. The method includes: obtaining, through the visual sensor, a current frame image; obtaining, through the ultra-wideband tag, distance of a robot from an ultra-wideband anchor; performing a feature matching on the current frame image and an adjacent frame image to generate partial map point(s); determining whether the current frame image is a key frame image; and optimizing a pose of the visual sensor corresponding to the key frame image through a joint objective function in response to the current frame image being the key frame image, where the joint objective function at least comprises a distance cost function of the ultra-wideband anchor and a visual residual cost function. Through the above-mentioned method, the accuracy of the positioning of the robot can be improved.
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公开(公告)号：US20200212897A1
公开(公告)日：2020-07-02
申请号：US16509515
申请日：2019-07-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Hanyu Sun
IPC: H03K3/3565 , H03K5/24
Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.
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公开(公告)号：US20200211413A1
公开(公告)日：2020-07-02
申请号：US16677698
申请日：2019-11-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yanhui Zhang , Youjun Xiong
Abstract: The present disclosure is provides a method, an apparatus and a terminal device for constructing parts together. The method includes: determining an assembly progress of an object constructed of parts; determining a currently required part according to the assembly progress; identifying, in a part photo of the object, the currently required part using a pre-trained first neural network model and marking the one or more identified currently required parts in the part photo; and displaying, via a display, a 3D demonstration animation with the marked part photo as a background image. The method is based on the existing 3D demonstration animation, which identifies the currently required part in the captured part photo and marks the identified currently required part in the part photo, and then displays the marked part photo as the background image of the 3D demonstration animation, thereby adding a prompt for the real part.
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Patent Agency Ranking
296.发明申请公开(公告)号：US20200210776A1
公开(公告)日：2020-07-02
申请号：US16727946
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Weixing XIONG , Youjun Xiong , Hongtao Liao
Abstract: The present invention discloses a question answering method including obtaining a first question and a first category of the first question, combining the first question with each of preset second questions corresponding to the first category to form question groups, inputting the question groups into a trained deep retrieval matching classification model to obtain a first probability of a first classification label of each of the question groups, inputting the first question into a gradient boosting decision model to obtain a second category of the first question, obtaining a second category of the second questions, adjusting the first probability of the first classification label of each of the question groups, according to the second category of the second questions and the second category of the first question in each of the question groups, and outputting a reply according to adjusted first probabilities for solving a problem of low reply accuracy.
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公开(公告)号：US20200207432A1
公开(公告)日：2020-07-02
申请号：US16708464
申请日：2019-12-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youpeng Li , Youjun Xiong , Hongyu Ding , Meichun Liu , Jianxin Pang
IPC: B62D57/032 , B25J18/00 , B25J9/10
Abstract: A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.
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298.发明申请公开(公告)号：US20200206944A1
公开(公告)日：2020-07-02
申请号：US16669551
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hao Dong , Youjun Xiong , Yuesong Wang , Mingguo Zhao
Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.
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299.发明申请公开(公告)号：US20200206925A1
公开(公告)日：2020-07-02
申请号：US16660822
申请日：2019-10-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Youjun Xiong , Mingguo Zhao
Abstract: The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control.
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公开(公告)号：US10667045B1
公开(公告)日：2020-05-26
申请号：US16447986
申请日：2019-06-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Fanglin Xing
Abstract: The present disclosure provides a robot and an audio data processing method thereof. The robot includes a body part, a main control module, and a sound pickup module electrically coupled to the main control module. The sound pickup module includes N microphones distributed around the body part to collect audio data. The main control module is configured to obtain the audio data of a sound source from a part of the N microphones collecting the audio data of the sound source without blocked by the body part, and perform a sound source localization and a sound pickup based on the obtained audio data. The 360-degree wake-up and sound source localization of the robot and the beam-forming of directional beams are realized. In addition, the sound pickup is realized without forming microphone holes on the head of the robot, hence the aesthetics of the robot will not be affected.
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