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公开(公告)号：US10821605B2
公开(公告)日：2020-11-03
申请号：US16026032
申请日：2018-07-02
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jinghua Tang
IPC: B25J9/16
Abstract: The present disclosure provides a robot motion path planning method, apparatus, and terminal device. The method includes planning a planned path for a robot in a current scene using an open motion planning library (OMPL) database, setting a shortest ideal path as an initial ideal path, calculating a new path between the planned path and the initial ideal path using a dichotomy method, determining whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene, making the new path as the new planned path if yes, otherwise determining the new path as a new ideal path, optimizing the planned path using the dichotomy method iteratively until an error between the planned path and the ideal path is within a preset range, and determining the planned path as a motion path of the robot, thereby improving the motion efficiency.
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公开(公告)号：USD896291S1
公开(公告)日：2020-09-15
申请号：US29696848
申请日：2019-07-01
Applicant: UBTECH ROBOTICS CORP LTD
Designer： Dingkai Xing , Zuyi Mao , Zihong Yao , Youjun Xiong
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公开(公告)号：US10747215B2
公开(公告)日：2020-08-18
申请号：US15856062
申请日：2017-12-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenxue Xie , Gaobo Huang
Abstract: An error diagnosis method of a robot includes determining operational status of components of a robot and determining an operational status of a main control process of the robot, generating diagnosis data comprising a data format having an error status level, a name of an error diagnosis processes of the components, and an error code identity (ID) number, packaging diagnosis data of the operational status of the components as diagnosis information in a predetermined data format, storing the diagnosis information in memory.
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公开(公告)号：US10739781B2
公开(公告)日：2020-08-11
申请号：US15920467
申请日：2018-03-14
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Jiawen Hu
Abstract: The present disclosure provides a method, apparatus, and terminal device for cliff detection. The method includes: obtaining a detection distance matrix of distances between a camera of a target robot and a ground within a preset detection angle range collected by the camera; obtaining a difference matrix obtained by subtracting a theoretical distance matrix from the detection distance matrix; counting an amount of elements in the difference matrix being greater than a preset first threshold; and determining a cliff is detected if the counted amount of the elements is greater than a preset second threshold. Through the overall consideration of the distance matrix of the distances within the detection angle range, even if a certain part of the ground changes its external conditions such as the color depth and the lightness, the influences on the overall detection result is extremely limited, which makes the detection result more accurate and reliable.
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公开(公告)号：US10718413B2
公开(公告)日：2020-07-21
申请号：US15913934
申请日：2018-03-07
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Youpeng Li , Hongyu Ding
Abstract: An assembly of a robot includes a first member, a second member rotatably connected to the first member to construct a robot joint structure, a driving assembly arranged within the first member, a speed reducer assembly to rotatably connect the first member to the second member, and a belt drive assembly connected to the driving assembly and the speed reducer assembly. The belt drive assembly is used to transmit rotary motion from the driving assembly to the speed reducer assembly, thereby rotating the first member with respect to the second member.
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Patent Agency Ranking
公开(公告)号：US10714114B2
公开(公告)日：2020-07-14
申请号：US15969755
申请日：2018-05-02
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Haoming Li , Pinxiu Wen , Yanhui Xia
IPC: G10L21/00 , A61F11/06 , H04R3/00 , G10L21/0208 , B25J13/00 , G10L21/0216
Abstract: The present disclosure provides a noise reduction processing method, system and terminal device. In the present disclosure, a position angle of a far-field audio input sound source and a microphone array as well as a rotation angle of a head servo of a robot are obtained, and then a target rotation angle of the robot is calculated. The head servo of the robot is controlled to rotate according to the target rotation angle such that the robot moves along with the far-field sound source, and a beam area is changed according to the target rotation angle to enable a sound source enhancement area to process far-field audios. As a result, the noise reduction performance of the microphone array beam is effectively improved.
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公开(公告)号：US20200209890A1
公开(公告)日：2020-07-02
申请号：US16587069
申请日：2019-09-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Yuesong Wang , Mingguo Zhao
Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as an initial value of a next centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.
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公开(公告)号：US20200208691A1
公开(公告)日：2020-07-02
申请号：US16368879
申请日：2019-03-29
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Youpeng Li , Hongyu Ding , Meichun Liu , Jianxin Pang
IPC: F16D55/226 , F16D65/12
Abstract: A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.
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公开(公告)号：US20200206958A1
公开(公告)日：2020-07-02
申请号：US16583273
申请日：2019-09-26
Applicant: Ubtech Robotics Corp Ltd
Inventor： Youjun Xiong , Meichun Liu , Youpeng Li
IPC: B25J17/00
Abstract: A joint of a robot includes a first servo assembly having a first housing and a first servo arranged within the first housing and comprising an output shaft; an ankle support having two ends rotatably connected to the first housing; and a bearing assembly to connect one of the two ends of the ankle support to the first housing. The bearing assembly includes a first connecting member fixed to the first housing, a second connecting member fixed to the one of the two ends of the ankle support, and a bearing to rotatably connect the first connecting member to the second connecting member. The other one of the two ends of the ankle support is connected to the output shaft of the first servo.
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公开(公告)号：US20200206927A1
公开(公告)日：2020-07-02
申请号：US16427349
申请日：2019-05-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Longbiao Bai , Youjun Xiong , Zhichao Liu , Jian Zhang , Yongsheng Zhao , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocal i/at ion result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.
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