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301.发明申请公开(公告)号：US20210146538A1
公开(公告)日：2021-05-20
申请号：US16734393
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Zheng Xie , Yizhang Liu , Youjun Xiong , Jianxin Pang
Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.
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公开(公告)号：US20210107577A1
公开(公告)日：2021-04-15
申请号：US16724413
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Xianwei Su , Zheng Xie , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.
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公开(公告)号：US10935090B2
公开(公告)日：2021-03-02
申请号：US16368879
申请日：2019-03-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Youpeng Li , Hongyu Ding , Meichun Liu , Jianxin Pang
IPC: F16D63/00 , F16D55/226 , F16D65/12 , F16D129/10
Abstract: A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.
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公开(公告)号：US20210055739A1
公开(公告)日：2021-02-25
申请号：US16718212
申请日：2019-12-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Gaobo Huang , Pinjun Fu , Youjun Xiong
Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.
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公开(公告)号：USD910782S1
公开(公告)日：2021-02-16
申请号：US29627303
申请日：2017-11-26
Applicant: UBTECH Robotics Corp
Designer： Jian Zhou , Huaqiang Lu , Yiping Li , Youjun Xiong , John Rhee , Peng Deng , Jianxin Pang , Zheng Xie , Shulong Liu , Yangyu Pi , Youpeng Li , Jing Shi , Yizhang Liu , Kunlei Zhao
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Patent Agency Ranking
公开(公告)号：US10852139B2
公开(公告)日：2020-12-01
申请号：US16030843
申请日：2018-07-09
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Longbiao Bai , Zhichao Liu , Zhanjia Bi
Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.
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公开(公告)号：US10823582B2
公开(公告)日：2020-11-03
申请号：US16141987
申请日：2018-09-26
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Fan , Yongping Zeng , Sheng Zhou
Abstract: The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.
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公开(公告)号：US10821606B2
公开(公告)日：2020-11-03
申请号：US15856052
申请日：2017-12-27
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Haiwu Su
Abstract: The present disclosure is applicable to robot technology. A method for robot fall prediction, and a robot are provided. The method includes: searching a weighted value of a center of gravity of the robot corresponding to a posture of the robot, according to a preset first corresponding relationship; correcting an offset of the center of gravity of the robot based on the weighted value of the center of gravity of the robot; correcting an acceleration of the robot based on an offset direction of the center of gravity of the robot; and determining whether the robot will fall based on the corrected offset of the center of gravity, the offset direction of the center of gravity, and the corrected acceleration of the robot. The present disclosure improves the real-time performance and accuracy of the prediction for the fall of a robot through the fusion calculation of various data.
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公开(公告)号：US10821604B2
公开(公告)日：2020-11-03
申请号：US15853600
申请日：2017-12-22
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Haiwu Su
Abstract: The present disclosure is applicable to robot technology. A method for robot posture detection and a robot are provided. The method includes: obtaining a position parameter of each of nodes of a robot; obtaining a first weighted value of each of the nodes corresponding to the position parameter of the corresponding node; calculating a weighted value of each of body parts of the robot based on the first weighted value of the node of the corresponding body part; and correcting an original parameter of a center of gravity of the robot according to a body gravity center influence factor of each of the body parts, and the weighted value of each of the body parts.
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公开(公告)号：US10776306B2
公开(公告)日：2020-09-15
申请号：US16232056
申请日：2018-12-26
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jialong Kuang , Rui Gu
Abstract: The present disclosure provides a serial port communication mode conversion method, system, and circuit for a serial port circuit, in which the serial port circuit includes a first serial port and a second serial port, a transmission signal line of the first serial port and a reception signal line of the second serial port are connected to form a half-duplex signal line. The method includes: configuring the second serial port to enable after a preset time; controlling the first serial port to transmit a control signal to an external device through the half-duplex signal line within the preset time; and controlling the second serial port to receive response data transmitted by the external device through the half-duplex signal line after the preset time. The present disclosure realizes the conversion of the full-duplex serial port to the half-duplex serial port.
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