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公开(公告)号：US20210178587A1
公开(公告)日：2021-06-17
申请号：US17120225
申请日：2020-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Hongge Wang , Youjun Xiong , Jianxin Pang
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: A robot 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 COM of a body of the robot based on the force information; updating a motion trajectory of the robot according to the zero moment point of the COM of the body 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 a left leg and a right leg of the robot; and controlling the robot to move according to the joint angles.
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公开(公告)号：US20210166416A1
公开(公告)日：2021-06-03
申请号：US17107860
申请日：2020-11-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.
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公开(公告)号：US11020853B2
公开(公告)日：2021-06-01
申请号：US16231967
申请日：2018-12-25
Applicant: UBTECH ROBOTICS CORP.
Inventor： Youjun Xiong , Ruohu Yang , Lihai Mei , Yidan Wang , Shaochun Li
Abstract: The present disclosure relates to intelligent control technology, and provides a robot, a method for controlling motion of a robot and a non-transitory readable medium. The method includes: acquiring current motion state of the robot; when the robot is in abnormal motion state, storing received data; when the robot returns to normal motion state, acquiring restoring time for the robot to return from the abnormal motion state to the normal motion state; and controlling the robot to perform a corresponding action after the robot returns to the normal motion state. In this way when multiple robots perform synchronized tasks and one of them is interrupted, this robot may perform the corresponding action based on the fault duration and the data which correspond to the action the robot needs to perform in the normal motion state. Thus, this robot may keep its actions consistent with the others.
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公开(公告)号：US20210134268A1
公开(公告)日：2021-05-06
申请号：US17006936
申请日：2020-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rixing Huang , Youjun Xiong
Abstract: A computer-implemented method for utterance generation, a smart device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a first utterance to be answered, generating at least one random semantic vector, inputting the at least one random semantic vector and the first utterance into a trained generator, and obtaining at least one first answer outputted by the trained generator, wherein the trained generator is obtained based on a preset generative adversarial network. Due to the random semantic vector, even for the same utterance, the smart device can generate different answers corresponding to the different random semantic vectors, the possibility of generating too many identical answers during the human-machine conversation is reduced, and the fun during the human-machine conversation is enhanced.
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公开(公告)号：US20210129341A1
公开(公告)日：2021-05-06
申请号：US16727948
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Zhanjia Bi , Youjun Xiong
IPC: B25J9/16
Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.
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Patent Agency Ranking
公开(公告)号：US10996678B2
公开(公告)日：2021-05-04
申请号：US16236524
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Peng Nie , Xu Hu , Musen Zhang
IPC: G05D1/02 , G05D1/00 , G01S17/931
Abstract: The present disclosure provides an obstacle avoidance method and system for a robot having ranging sensors as well as a robot using the same. The method includes: obtaining detection data collected by the plurality of ranging sensors; obtaining a current position of the robot based on the collected detection data; determining whether historical detection data corresponding to the current position has been stored; planning a movement path of the robot based on the collected detection data and the historical detection data and generating movement path information of the movement path, if the historical detection data corresponding to the current position has been stored; and controlling the robot to move along an obstacle-free path based on the movement path information. The present disclosure can effectively break through the limitation of the sensor technology, reduce the detection blind zone, and effectively improve the obstacle avoidance efficiency of a robot.
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公开(公告)号：US20210086096A1
公开(公告)日：2021-03-25
申请号：US16727949
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： XIONGYUAN FANG , Youjun Xiong , Tao Bai
Abstract: A building block includes at least one of a plug portion and a socket portion. The plug portion has two cantilevered tongues deflectable toward each other. Each cantilevered tongue includes a first engaging portion. The socket portion defines a chamber and has two second engaging portions. The plug portion and the socket portion are configured in such a way that the plug portion of one building block is insertable into the chamber of the socket portion of another building block, and the two cantilevered tongues of the building block deflect toward each other after insertion of the plug portion of the building block into the chamber of the socket portion of the other building block, which allows the first engaging portions of the building block to be engaged with the second engaging portions of the other building block, thereby connecting the two building blocks together.
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公开(公告)号：US10942502B2
公开(公告)日：2021-03-09
申请号：US16581791
申请日：2019-09-25
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Xi Bai , Wenhua Fan , Malin Wang , Jianxin Pang
IPC: G05B19/23 , G05B19/4062
Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.
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公开(公告)号：US10927931B2
公开(公告)日：2021-02-23
申请号：US16286631
申请日：2019-02-27
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Zuyi Mao , Xinpu Chen , Gao Yang , Defu Liu
Abstract: An arm assembly of a robot includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, a hand connected to an end of the forearm and rotatable about a first axis extending along a lengthwise direction of the forearm; and a hand transmission mechanism configured to transmit motion from the servo to the hand so as to drive the hand to rotate about the first axis.
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公开(公告)号：US20210008730A1
公开(公告)日：2021-01-14
申请号：US16561033
申请日：2019-09-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： XU HU , Peng Nie , Wei Fang , Jiawen Hu , Youjun Xiong
Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.
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