公开(公告)号：US20210387340A1

公开(公告)日：2021-12-16

申请号：US17137382

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

公开(公告)号：US11179855B2

公开(公告)日：2021-11-23

申请号：US16669551

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hao Dong ,  Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: B25J13/08 ,  B25J9/16 ,  B25J17/02

Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.

公开(公告)号：US20210347038A1

公开(公告)日：2021-11-11

申请号：US16902205

申请日：2020-06-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHENGKUN ZHANG ,  Liang Huang ,  Jianbo Li ,  Jingchen Li ,  Hongyu Ding ,  Wenhua Fan ,  Won Suk You ,  Raymond Ma ,  Muhammed Rasid Pac ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/04 ,  B25J17/00 ,  B25J19/00 ,  B25J13/08

Abstract: A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.

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：US20210333082A1

公开(公告)日：2021-10-28

申请号：US16626519

申请日：2018-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Youjun Xiong

IPC: G01B5/24 ,  H02P21/18 ,  G05B19/416

Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

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：US20210201925A1

公开(公告)日：2021-07-01

申请号：US17110323

申请日：2020-12-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jiebin Xie ,  Ruotong Wang ,  Dongyan Huang ,  Zhichao Tang ,  Yang Liu ,  Youjun Xiong

IPC: G10L21/013 ,  G10L15/02 ,  G10L25/03 ,  G10L25/69 ,  G10L15/04 ,  G10L13/033

Abstract: The present disclosure provides a streaming voice conversion method as well as an apparatus and a computer readable storage medium using the same. The method includes: obtaining to-be-converted voice data; partitioning the to-be-converted voice data in an order of data obtaining time as a plurality of to-be-converted partition voices, where the to-be-converted partition voice data carries a partition mark; performing a voice conversion on each of the to-be-converted partition voices to obtain a converted partition voice, where the converted partition voice carries a partition mark; performing a partition restoration on each of the converted partition voices to obtain a restored partition voice, where the restored partition voice carries a partition mark; and outputting each of the restored partition voices according to the partition mark carried by the restored partition voice. In this manner, the response time is shortened, and the conversion speed is improved.

公开(公告)号：US20210200952A1

公开(公告)日：2021-07-01

申请号：US17134494

申请日：2020-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Weixing Xiong ,  Li Ma ,  Youjun Xiong

IPC: G06F40/295 ,  G06F40/40 ,  G06K9/62

Abstract: The present disclosure discloses an entity recognition model training method and an entity recognition method as well as an apparatus using them. The entity recognition model training method includes: obtaining a training text and matching the training text with a database to obtain a plurality of matching results; processing the matching results to obtain a plurality of feature vectors corresponding to the matching results; obtaining a word vector of each word in the training text by processing the training text; and training an initial entity recognition model based on the feature vector and the word vector to obtain an entity recognition model. By using this training manner, the entity recognition model obtained can have an improved accuracy of entity recognition.

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.