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公开(公告)号：US11263453B2
公开(公告)日：2022-03-01
申请号：US16611476
申请日：2018-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Liangliang Jia
Abstract: The present disclosure relates to an object trajectory tracking and displaying method, comprising the following steps of: creating a mapping relationship database of image features and WIFI information for objects in a distributed search server, where each WIFI information includes position information; receiving a trajectory query request for a monitored object; searching the mapping relationship database of image features and WIFI information for objects according to an image feature of the monitored object to produce a WIFI information set, and producing a corresponding position information set based on the WIFI information set; and generating real-time trajectory information of the monitored object based on the position information set. The object trajectory tracking and displaying method and system of the present disclosure make the position of the sampling data points more accurate and improve the accuracy of trajectory querying.
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公开(公告)号：US20220036065A1
公开(公告)日：2022-02-03
申请号：US16953378
申请日：2020-11-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Chenchen Jiang , Youjun Xiong
Abstract: The present disclosure provides a loop closure detection method, a mobile device, and a computer readable storage medium. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.
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公开(公告)号：US11230001B2
公开(公告)日：2022-01-25
申请号：US16572637
申请日：2019-09-17
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Jianxin Pang
IPC: B25J9/00 , B25J13/08 , B25J9/16 , B62D57/032
Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.
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公开(公告)号：US20220009095A1
公开(公告)日：2022-01-13
申请号：US17408512
申请日：2021-08-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Liqun Huang , Xiaoyu Ren , Mingguo Zhao , Youjun Xiong
IPC: B25J9/16
Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.
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公开(公告)号：US20210387334A1
公开(公告)日：2021-12-16
申请号：US17198167
申请日：2021-03-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaoyu Ren , Liqun Huang , Youjun Xiong
Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.
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Patent Agency Ranking
公开(公告)号：US20210347060A1
公开(公告)日：2021-11-11
申请号：US16923069
申请日：2020-07-07
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Marten Byl , Chengkun Zhang , Raymond Ma , Muhammed Rasid Pac , Huan Tan , Youjun Xiong
IPC: B25J11/00 , B25J5/00 , B25J9/12 , B25J9/00 , B65G1/02 , B25J9/10 , B65G61/00 , B25J19/00 , B25J19/02 , B25J9/16
Abstract: A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.
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公开(公告)号：US20210331753A1
公开(公告)日：2021-10-28
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
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.
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公开(公告)号：US11125276B2
公开(公告)日：2021-09-21
申请号：US16234631
申请日：2018-12-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Kunlei Zhao , Wenhua Yu , Zheng Xie , Zhaohui An
Abstract: The present disclosure provides an output shaft component and a power output mechanism. The output shaft component includes a housing connected to the driven member, an adapter shaft connected to an output shaft of the power output mechanism, and an elastic body mounted in the housing. The adapter shaft is rotatably mounted in the housing. The elastic body includes an inner ring, an outer ring located outside the inner ring, and an elastic portion connected between the inner ring and the outer ring. The adapter shaft is sheathed in the inner ring, the inner ring is synchronously rotatably connected to the adapter shaft, and the outer ring is fixed on the housing.
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公开(公告)号：US11115594B2
公开(公告)日：2021-09-07
申请号：US16195871
申请日：2018-11-20
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xiangnan Gu
Abstract: The present disclosure provides a shutter speed adjusting method and apparatus or a robot with a photographing device, and a robot using the same. The method includes: obtaining a motion speed of the robot: obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device; obtaining a distance between the robot and a photographed object; and adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance. Through the present disclosure, the problem of blurred picture caused by the movement of the robot itself can be avoided, thereby improving the photographing quality.
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350.发明申请公开(公告)号：US20210221455A1
公开(公告)日：2021-07-22
申请号：US17092347
申请日：2020-11-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Hao Dong , Guoping Yang , Mingguo Zhao , Youjun Xiong
IPC: B62D57/032
Abstract: The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.
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