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公开(公告)号：US20180191524A1
公开(公告)日：2018-07-05
申请号：US15669961
申请日：2017-08-07
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Hailang Zhou , Musen Zhang
CPC classification number: H04L12/40071 , H04L12/40006 , H04L12/40019 , H04L29/0602 , H04L2012/40215
Abstract: The present disclosure relates to a data transmission method for robot, including: transmitting, an attribute reporting request to at least one node via an attribute request frame, receiving an attribute reporting response transmitted from the node, updating the length of a buffer according to the attribute reporting response when a length of at least one attribute to be reported being determined to be greater than the length of the buffer. The attribute reporting response carries the length of the attribute data, and receiving the attribute data reported from the node via at least, one block data, when the length of the attribute to be reported being determined to be less than or equals to the length of the buffer.
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公开(公告)号：US20180188136A1
公开(公告)日：2018-07-05
申请号：US15641228
申请日：2017-07-04
Applicant: UBTECH Robotics Corp.
Inventor： HONGBO ZHU , Lifu Zhang , Youjun Xiong
Abstract: The present disclosure is an apparatus for testing an idle position of a servo, including: driving mechanism, a transmission unit transmitting torque of a driving servo to a testing servo, and a control circuit electrically connecting to the driving servo and the testing servo to acquire idle position information. The apparatus drives the output shaft of the testing servo to rotate by an external driving mechanism, and measures an amount of rotation of the output shaft by an internal sensor of the testing servo. Therefore, an external sensor may not be provided, and a problem of precision installation of the external sensor can be avoided. Further, a problem caused by poorly install the external sensor and the output shaft can also be avoided, and accuracy of a testing result can be increased.
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公开(公告)号：US20180073894A1
公开(公告)日：2018-03-15
申请号：US15397730
申请日：2017-01-04
Applicant: UBTECH Robotics Corp.
Inventor： Zhenmin Mo , Tingshuang Huang , Youjun Xiong
CPC classification number: G01D5/00 , G01D5/24476 , H02K11/21
Abstract: An angle detection method includes collecting as original sample of an object angle, determining whether the original sample jumps, smoothing the original sample and outputting a smoothed original sample as a pre-processed sample. The method further includes determining whether a transition period of the original sample passes, updating the original sample during the transition period to the pre-processed sample, filtering the pre-processed sample, and outputting a non-interference detection value.
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304.发明授权公开(公告)号：US09892312B1
公开(公告)日：2018-02-13
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：US20180006595A1
公开(公告)日：2018-01-04
申请号：US15342119
申请日：2016-11-03
Applicant: UBTECH Robotics Corp.
Inventor： Tingshuang Huang , Youjun Xiong
CPC classification number: H02P31/00 , G05B19/102 , G05B19/4093 , G05B19/4142 , G05B19/4144 , G05B2219/21053 , G05B2219/32127 , G05B2219/34013 , G05B2219/34027 , G05B2219/34236 , G05B2219/34244 , G05B2219/34245 , H01H9/54 , H02K11/35
Abstract: A servo actuator controlling system includes a master controller and a number of servo actuators coupled to at least one interface of the master controller. The master controller includes a master MCU and a number of interfaces connected to the master MCU via a first bus. Each servo actuator includes a servo MCU, a first interface coupled to the servo MCU via a second bus, a second interface coupled the first Interface and the serve MCU, a first servo switch connected between the first interface and the servo MCU, and a second servo switch connected between the second interface and the servo MCU. The first servo switch is set to turn on or off the first interface and the second servo switch is set to turn on or off the second interface.
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Patent Agency Ranking
公开(公告)号：US20170341226A1
公开(公告)日：2017-11-30
申请号：US15296084
申请日：2016-10-18
Applicant: UBTECH Robotics Corp.
Inventor： YANG WANG , Youjun Xiong , Wenquan Shu
IPC: B25J9/12
CPC classification number: B25J9/12 , B25J9/08 , B25J17/00 , Y10S901/23 , Y10S901/28
Abstract: The present invention discloses a robot joint structure that includes a servo and a connection part. The servo includes a servo main body and an output shaft, and one end of the output protruding out of the servo main body. The servo main body includes a servo plate at one side surface thereof. The servo plate is fixed to the output shaft and capable of rotating together with the output shaft. The connection part includes a first connection arm, and the first connection arm defines at least one connection chamber allowing the servo plate to be inserted therein and mating tightly with the servo plate, to fix the connection part to the servo plate. The servo and the connection part of the robot joint structure mate tightly with each other, which avoids the disengagement during rotation. The assembling process is simple, which enhances the user experience.
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公开(公告)号：US12172325B2
公开(公告)日：2024-12-24
申请号：US18075426
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Meihui Zhang , Yizhang Liu , Youjun Xiong , Huan Tan
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.
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308.发明授权公开(公告)号：US12103177B2
公开(公告)日：2024-10-01
申请号：US17868790
申请日：2022-07-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yijie Guo , Mingguo Zhao , Youjun Xiong
CPC classification number: B25J9/1607 , B25J9/1615 , B25J9/163 , B25J9/1638 , B25J9/1653
Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.
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公开(公告)号：US12076860B2
公开(公告)日：2024-09-03
申请号：US17561609
申请日：2021-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Youjun Xiong
IPC: B62D57/032 , B25J9/16 , B62D57/024
CPC classification number: B25J9/1602 , B25J9/1633
Abstract: A control method for a robot includes: determining a desired zero moment point (ZMP) of the robot; obtaining a position of a left foot and a position of a right foot of the robot, and calculating desired support forces of the left foot and the right foot according to the desired ZMP, the positions of the left foot and the right foot; obtaining measured support forces of the left foot and the right foot, and calculating an amount of change in length of the left leg and an amount of change in length of the right leg according to the desired support forces of the left foot and the right foot, the measured support forces of the left foot and the right foot; and controlling the robot to walk according to the amount of change in length of the left leg and the right leg.
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公开(公告)号：US12005584B2
公开(公告)日：2024-06-11
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
CPC classification number: B25J9/1653 , B25J9/1607 , B25J9/1664 , B25J13/088
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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