公开(公告)号：US11713088B2

公开(公告)日：2023-08-01

申请号：US17134202

申请日：2020-12-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/032 ,  B25J13/08 ,  B25J17/00

CPC classification number: B62D57/032 ,  B25J13/085 ,  B25J17/00

Abstract: A leg mechanism of a humanoid robot includes: an upper leg, a lower leg rotatably coupled to the upper leg, a knee module actuator mounted to the upper leg, a foot rotatably connected to the lower leg, a knee transmission mechanism connected to the knee module actuator and the lower leg and configured to transmit rotary motion from the knee module actuator to the lower leg, at least one ankle module actuator mounted to the upper leg, at least one ankle transmission mechanism connected to the at least one ankle module actuator and the foot and configured to transmit rotary motion from the at least one ankle module actuator to the foot.

公开(公告)号：US20230205212A1

公开(公告)日：2023-06-29

申请号：US18171630

申请日：2023-02-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wanjun He ,  Zhichao Liu ,  Youjun Xiong

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  G05D1/0274

Abstract: A mapping method for a mobile robot includes: obtaining positions of particles corresponding to the mobile robot using a particle filtering approach; selecting one of the particles with a largest weight in a particle swarm corresponding to a current time point, performing position matching between the one of the particles and a historical trajectory formed by the one of the particles with the largest weight, and determining whether the positions of the particles corresponding to the mobile robot match positions of historical trajectory points of the mobile robot; in response to the positions of the particles corresponding to the mobile robot matching the positions of the historical trajectory points of the mobile robot, optimizing a trajectory of the mobile robot using a graph optimization approach; and building a map based on the optimized trajectory.

公开(公告)号：US11645474B2

公开(公告)日：2023-05-09

申请号：US17133673

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongfa Feng ,  Dongyan Huang ,  Youjun Xiong

IPC: G06F40/40 ,  G10L13/08

CPC classification number: G06F40/40 ,  G10L13/08

Abstract: A computer-implemented method for text conversion, a computer device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a text to be converted; performing a non-standard word recognition on the text to be converted, to determine whether the text to be converted includes a non-standard word; recognizing the non-standard word in the text to be converted by using an eXtreme Gradient Boosting model in response to the text to be converted including the non-standard word; and obtaining a target converted text corresponding to the text to be converted, according to a recognition result outputted by the eXtreme Gradient Boosting model. The method has a faster recognition speed and a higher recognition accuracy compared with the deep learning model.

公开(公告)号：US11644840B2

公开(公告)日：2023-05-09

申请号：US17109099

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  G05D1/02 ,  B25J13/08 ,  B62D57/032 ,  B25J11/00

CPC classification number: G05D1/0212 ,  B25J9/1641 ,  B25J9/1653 ,  B25J13/088 ,  B62D57/032 ,  B25J11/008

Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

公开(公告)号：US11642786B2

公开(公告)日：2023-05-09

申请号：US17138948

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  B25J19/00 ,  B25J9/00

CPC classification number: B25J9/1664 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/0006 ,  B25J9/1607 ,  B25J19/0008 ,  B62D57/02 ,  B62D57/032 ,  G05B2219/39063 ,  G05D2201/0217

Abstract: A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

公开(公告)号：US11629964B2

公开(公告)日：2023-04-18

申请号：US16843923

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: G01C21/32 ,  G05D1/02

Abstract: The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.

公开(公告)号：US11619344B2

公开(公告)日：2023-04-04

申请号：US17243523

申请日：2021-04-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongjin Zhao ,  Wenhua Yu ,  Libing Zhou ,  Junxin Mou ,  Jialin Qin ,  Youjun Xiong

IPC: F16M11/00 ,  F16M13/02 ,  B25J9/12 ,  F16H25/20 ,  F16M11/04 ,  F16M11/18

Abstract: An elevation device includes a mounting frame, a rotary actuator fixed to the mounting frame, a shaft connected to the rotary actuator and rotatable with respect to the mounting frame, a drive bar slidably connected to the mounting frame, and a connecting member fixed to the shaft. The shaft defines a helical groove in a lateral surface thereof. The drive bar includes a post that is movably fit in the helical groove. The mounting frame, the shaft and the drive bar constitute a conversion mechanism that converts rotation of the shaft into linear motion of the drive bar. The drive bar is slidable with respect to the mounting frame along a direction that is parallel to an axis of rotation of the shaft.

公开(公告)号：US11604466B2

公开(公告)日：2023-03-14

申请号：US17120232

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B62D57/02 ,  G05D1/02 ,  G05B19/4155 ,  G01L5/16

Abstract: A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US11590655B2

公开(公告)日：2023-02-28

申请号：US16611475

申请日：2018-12-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Xu Hu ,  Peng Nie

IPC: B25J9/16 ,  B25J13/08 ,  G01B21/04 ,  G01B9/02055 ,  G01B11/00

Abstract: The present disclosure provides an external parameter calibration method for robot sensors as well as an apparatus, robot and storage medium with the same. The method includes: obtaining first sensor data and second sensor data obtained through a first sensor and a second sensor of the robot by collecting position information of a calibration reference object and converting to a same coordinate system to obtain corresponding first converted sensor data and second converted sensor data, thereby determining a first coordinate and a second coordinate of a reference point of the calibration reference object; using the first coordinate and the second coordinate are as a set of coordinate data; repeating the above-mentioned steps to obtain N sets of the coordinate data to calculate the external parameter between the first sensor and the second sensor in response to a relative positional relationship between the robot and the calibration reference object being changed.

公开(公告)号：US11560192B2

公开(公告)日：2023-01-24

申请号：US16885227

申请日：2020-05-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Hongge Wang ,  Yizhang Liu ,  Shuping Hu ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/02 ,  G05D1/08 ,  B25J9/16 ,  G06F17/18 ,  B25J19/02

Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.