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公开(公告)号：US20210197404A1
公开(公告)日：2021-07-01
申请号：US16854856
申请日：2020-04-21
发明人： Jian Li , Hongyu Ding , Youpeng Li , Jianxin Pang , Youjun Xiong
摘要： 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.
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公开(公告)号：US20210197388A1
公开(公告)日：2021-07-01
申请号：US16935231
申请日：2020-07-22
发明人： RUI GUO , Kun Xie , Chenchen Jiang , Zhichao Liu , Jianxin Pang , Youjun Xiong
摘要： 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.
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公开(公告)号：US20210162595A1
公开(公告)日：2021-06-03
申请号：US16932872
申请日：2020-07-20
发明人： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
摘要： 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.
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公开(公告)号：US10894319B2
公开(公告)日：2021-01-19
申请号：US16671164
申请日：2019-10-31
发明人： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
IPC分类号： B25J19/00 , B25J9/16 , B25J9/10 , G05F1/10 , G05B19/414
摘要： 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.
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公开(公告)号：US10771925B1
公开(公告)日：2020-09-08
申请号：US16699763
申请日：2019-12-02
发明人： Yongsheng Zhao , Wanjun He , Yu Tang , Youjun Xiong , Jianxin Pang
IPC分类号： H04W4/02 , H04B17/27 , H04W4/029 , H04W48/10 , H04B17/318
摘要： 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.
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公开(公告)号：US20200241112A1
公开(公告)日：2020-07-30
申请号：US16699765
申请日：2019-12-02
发明人： ZHICHAO LIU , Jian Zhang , Youjun Xiong , Jianxin Pang
IPC分类号： G01S7/48 , G06K9/62 , G01S17/931
摘要： The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.
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公开(公告)号：US20200209880A1
公开(公告)日：2020-07-02
申请号：US16427362
申请日：2019-05-31
发明人： Longbiao Bai , Youjun Xiong , Zhichao Liu , Hongjian Liu , Zhanjia Bi , Jianxin Pang
摘要： The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle in of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.
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公开(公告)号：US20200209876A1
公开(公告)日：2020-07-02
申请号：US16396783
申请日：2019-04-29
发明人： Yongsheng Zhao , Youjun Xiong , Longbiao Bai , Jianxin Pang
摘要： The present disclosure provides a positioning method and an apparatus with the same. The method includes: obtaining, by die sensor set, current track node information of a current track node of a map on which the to-be-positioned device is located, where the current track node information includes a color of the current track node; and determining position information of the to-be-positioned device based on the track node information. In the above manner, the positioning of the to-be-positioned device in a specific map can be realized.
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公开(公告)号：US20200156721A1
公开(公告)日：2020-05-21
申请号：US16452532
申请日：2019-06-26
发明人： YOUJUN XIONG , Chunyu Chen , Yizhang Liu , Ligang Ge , Jianxin Pang
IPC分类号： B62D57/032
摘要： The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feel of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.
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40.发明授权公开(公告)号：US12080098B2
公开(公告)日：2024-09-03
申请号：US17562963
申请日：2021-12-27
发明人： Yusheng Zeng , Jun Cheng , Jianxin Pang
CPC分类号： G06V40/171 , G06T7/73 , G06V40/166
摘要： A method for training a multi-task recognition model includes: obtaining a number of sample images, wherein some of the sample images are to provide feature-independent facial attributes, some of the sample images are to provide feature-coupled facial attributes, and some of the sample images are to provide facial attributes of face poses; training an initial feature-sharing model based on a first set of sample images to obtain a first feature-sharing model; training the first feature-sharing model based on the first set of sample images and a second set of sample images to obtain a second feature-sharing model with a loss value less than a preset second threshold; obtaining an initial multi-task recognition model by adding a feature decoupling model to the second feature-sharing model; and training the initial multi-task recognition model based on the sample images to obtain a trained multi-task recognition model.
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