公开(公告)号：US11170528B2

公开(公告)日：2021-11-09

申请号：US16548868

申请日：2019-08-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Wanli Zhang ,  Jianxin Pang

IPC: G06T7/73 ,  G06T7/90 ,  G06T7/246

Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.

公开(公告)号：US11148283B2

公开(公告)日：2021-10-19

申请号：US16702480

申请日：2019-12-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jianli Chen ,  Youjun Xiong ,  Hongyu Ding ,  Jianxin Pang

IPC: B25J9/12 ,  B25J9/10 ,  B25J17/02 ,  F16H1/20

Abstract: A servo includes a housing, and a motor, a reduction gear drive mechanism, an output shaft, a position sensor and at least two stages of transmission gear. The reduction gear drive mechanism is connected with motor and the output shalt of the servo, the reduction gear drive mechanism used to transmit power from the motor to the output shaft of the servo. A head stage of the transmission gear is located on a tail end of the output shaft of the servo, and the position sensor is located at an axis of a tail stage of the transmission gear. The at least two stages of transmission gear transmit a rotation angle of the output shaft of the servo to the position sensor by a ratio of 1:1, the position sensor is not arranged coaxially with the output shaft of the servo.

公开(公告)号：US11110607B2

公开(公告)日：2021-09-07

申请号：US16535108

申请日：2019-08-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Hanyu Sun ,  Lifu Zhang ,  Wenhua Fan ,  Zhongliang Wang ,  Yongping Zeng ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/12

Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.

公开(公告)号：US20210197404A1

公开(公告)日：2021-07-01

申请号：US16854856

申请日：2020-04-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Li ,  Hongyu Ding ,  Youpeng Li ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J17/00 ,  F16H49/00 ,  F16H57/02 ,  H02K7/08 ,  H02K7/116 ,  H02K11/215 ,  H02K11/22

Abstract: A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.

公开(公告)号：US20210197388A1

公开(公告)日：2021-07-01

申请号：US16935231

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： RUI GUO ,  Kun Xie ,  Chenchen Jiang ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.

公开(公告)号：US20210162595A1

公开(公告)日：2021-06-03

申请号：US16932872

申请日：2020-07-20

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B25J5/00

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.

公开(公告)号：US10894319B2

公开(公告)日：2021-01-19

申请号：US16671164

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongping Zeng ,  Youjun Xiong ,  Zhongliang Wang ,  Dong Liu ,  Jianxin Pang

IPC: B25J19/00 ,  B25J9/16 ,  B25J9/10 ,  G05F1/10 ,  G05B19/414

Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

公开(公告)号：US10882184B2

公开(公告)日：2021-01-05

申请号：US16236521

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Hanyu Sun ,  Xi Bai ,  Jianxin Pang

IPC: G05B19/19 ,  B25J9/16 ,  B25J9/00

Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.

公开(公告)号：US10857681B2

公开(公告)日：2020-12-08

申请号：US16370889

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

Inventor： Sicong Liu ,  Youjun Xiong ,  Hongyu Ding ,  Qidong Xu ,  Jianxin Pang

IPC: B25J15/08 ,  F16C1/12 ,  F16H25/20 ,  B25J15/00 ,  F16C1/16

Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.

公开(公告)号：US10771925B1

公开(公告)日：2020-09-08

申请号：US16699763

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Wanjun He ,  Yu Tang ,  Youjun Xiong ,  Jianxin Pang

IPC: H04W4/02 ,  H04B17/27 ,  H04W4/029 ,  H04W48/10 ,  H04B17/318

Abstract: The present disclosure provides localization methods and a system using the same. One of the methods includes: broadcasting a ranging frame in a awake state of a localization tag; obtaining a response frame returned by the first anchor according to the ranging frame; updating the ranging anchor list according to the response frame; and calculating a distance between the localization tag and the first anchor based on a time of broadcasting the ranging frame, a time of receiving the response frame, the time of the first anchor receiving the ranging frame, and the time of the first anchor transmitting the response frame. In such a manner, the localization tag is enabled to switch the anchor for ranging in time according to the updated ranging anchor list during movement, thereby automatically ranging with the nearby anchor.