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公开(公告)号：US11941366B2
公开(公告)日：2024-03-26
申请号：US17102395
申请日：2020-11-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chi Shao , Dongyan Huang , Wan Ding , Youjun Xiong
IPC: G06F40/35 , G06F40/284 , G06N3/049
CPC classification number: G06F40/35 , G06F40/284 , G06N3/049
Abstract: The present disclosure discloses a context-based multi-turn dialogue method. The method includes: obtaining to-be-matched historical dialogue information; performing a word feature extraction based on the to-be-matched historical dialogue information to obtain a historical dialogue word embedding; obtaining candidate answer information; performing the word feature extraction based on the candidate answer information to obtain a candidate answer word embedding; obtaining a historical dialogue partial matching vector and a candidate answer partial matching vector by performing partial semantic relationship matching based on the historical dialogue word embedding and the candidate answer word embedding; obtaining a candidate answer matching probability by performing a matching probability calculation based on the historical dialogue partial matching vector and the candidate answer partial matching vector; and determining matched answer information based on the candidate answer information and the candidate answer matching probability.
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公开(公告)号：US11940774B2
公开(公告)日：2024-03-26
申请号：US17115735
申请日：2020-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Miaochen Guo , Jingtao Zhang , Dong Wang , Shuping Hu , Jianxin Pang , Youjun Xiong
IPC: G05B19/408 , G05B19/4155 , G06F18/214 , G06F18/22 , G06N3/08 , G06V10/764 , G06V20/10 , G06V20/64 , G06V40/20
CPC classification number: G05B19/4086 , G05B19/4155 , G06F18/214 , G06F18/22 , G06N3/08 , G06V10/764 , G06V20/10 , G06V20/647 , G06V40/20 , G05B2219/33027 , G05B2219/50391
Abstract: The present disclosure provides action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting at least a two-dimensional image of a to-be-imitated object; obtaining two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and a pairing relationship between the key points of the to-be-imitated object; converting the two-dimensional coordinates of the key points of the to-be-imitated object in the two-dimensional image into space three-dimensional coordinates corresponding to the key points of the to-be-imitated object through a pre-trained first neural network model, and generating an action control instruction of a robot based on the space three-dimensional coordinates corresponding to the key points of the to-be-imitated object and the pairing relationship between the key points, where the action control instruction is for controlling the robot to imitate an action of the to-be-imitated object.
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公开(公告)号：US20240091934A1
公开(公告)日：2024-03-21
申请号：US18518955
申请日：2023-11-25
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： XIAOZHU JU , Youjun Xiong
CPC classification number: B25J9/1633 , B25J9/1607 , B25J9/163 , B25J9/1664 , B25J13/085 , B25J13/089
Abstract: An admittance control method, a robot, and a storage medium are provided. The method includes: obtaining, based on a first admittance controller transfer function between force and position, a desired position of a robot in a current control cycle; determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix; and controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint, in response to the ill condition number being less than a preset maximum ill condition number. In this manner, the configuration of the robot can be maintained within a reasonable rang of the ill condition number, and singularities caused by the admittance controller exceeding the work space can be avoided while the velocity reachability and force reachability of the robot can be ensured.
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公开(公告)号：US11926056B2
公开(公告)日：2024-03-12
申请号：US17678030
申请日：2022-02-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Yizhang Liu , Ligang Ge , Chunyu Chen , Qiuyue Luo , Youjun Xiong
CPC classification number: B25J9/1664
Abstract: A gait planning method and a robot using the same as well as a computer readable storage medium are provided. The method includes: determining a reference leg length l0 and a leg length variation range A of a robot; performing a trajectory planning on a length of at least one of the legs of the robot using; an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t. In this manner, the trajectory planning for the leg length of the robot during motion is performed according to the characteristics of motion scene such as robot jumping or running so that the change of the leg length of the robot is adapted to the motion process, which greatly improves the stability of the robot in the motion scene such as jumping or running.
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公开(公告)号：US20240001546A1
公开(公告)日：2024-01-04
申请号：US18369225
申请日：2023-09-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： ZHIHAO ZHANG , Yizhang Liu , Jinliang Chen , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1653
Abstract: A robotic arm angle interval inverse solving method and a robotic arm using the same are provided. The method includes: obtaining a joint angle calculation model and a differential relationship model of a target joint of the robotic arm; obtaining extreme arm angles corresponding to a joint angle of the differential relationship model at extreme values based on the differential relationship model; obtaining a joint arm angle interval corresponding to the target joint based on the extreme arm angle and the joint angle calculation model; and obtaining a target arm angle interval corresponding to the robotic arm based on the joint arm angle interval corresponding to the target joint of the robotic arm. In comparison with the existing method to solve the arm angle interval of the robotic arm, a more accurate arm angle interval can be obtained.
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Patent Agency Ranking
公开(公告)号：US11845186B2
公开(公告)日：2023-12-19
申请号：US17138942
申请日：2020-12-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Liqun Huang , Xiaoyu Ren , Mingguo Zhao , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1643 , B25J9/1607 , G05B2219/50391
Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.
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公开(公告)号：US11790174B2
公开(公告)日：2023-10-17
申请号：US17134494
申请日：2020-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Weixing Xiong , Li Ma , Youjun Xiong
IPC: G06F40/295 , G06F40/40 , G06F18/214 , G06F18/2415
CPC classification number: G06F40/295 , G06F18/214 , G06F18/2415 , G06F40/40
Abstract: The present disclosure discloses an entity recognition model training method and an entity recognition method as well as an apparatus using them. The entity recognition model training method includes: obtaining a training text and matching the training text with a database to obtain a plurality of matching results; processing the matching results to obtain a plurality of feature vectors corresponding to the matching results; obtaining a word vector of each word in the training text by processing the training text; and training an initial entity recognition model based on the feature vector and the word vector to obtain an entity recognition model. By using this training manner, the entity recognition model obtained can have an improved accuracy of entity recognition.
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公开(公告)号：US11763796B2
公开(公告)日：2023-09-19
申请号：US17117148
申请日：2020-12-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Dongyan Huang , Leyuan Sheng , Youjun Xiong
CPC classification number: G10L13/02 , G06F17/14 , G06N3/08 , G06N20/10 , G10L21/0324 , G10L25/24 , G10L25/30
Abstract: A computer-implemented method for speech synthesis, a computer device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a speech text to be synthesized; obtaining a Mel spectrum corresponding to the speech text to be synthesized according to the speech text to be synthesized; inputting the Mel spectrum into a complex neural network, and obtaining a complex spectrum corresponding to the speech text to be synthesized, wherein the complex spectrum comprises real component information and imaginary component information; and obtaining a synthetic speech corresponding to the speech text to be synthesized, according to the complex spectrum. The method can efficiently and simply complete speech synthesis.
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公开(公告)号：US20230271656A1
公开(公告)日：2023-08-31
申请号：US18144160
申请日：2023-05-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Youjun Xiong
IPC: B62D57/032 , G01M1/12 , B25J9/16 , B25J13/08
CPC classification number: B62D57/032 , G01M1/122 , B25J9/161 , B25J9/1633 , B25J13/085
Abstract: A robot state estimation method, a computer-readable storage medium, and a legged robot are provided. The method includes: obtaining force information of a left leg of a robot and a right leg of the robot; calculating a ZMP of the robot in a world coordinate system based on the force information of the left leg and the force information of the right leg; and calculating a position of a center of mass (CoM) of the robot based on a preset linear inverted pendulum model. In this manner, a brand-new linear inverted pendulum model is constructed in advance, which uses the ZMP of the robot as a supporting point of the model, thereby fully considering the influence of the change of the position of the ZMP of the robot on the position of the CoM.
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320.发明授权公开(公告)号：US11727784B2
公开(公告)日：2023-08-15
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
CPC classification number: G08B21/18 , G06T7/70 , G06V40/165 , G06T2207/30201
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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