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公开(公告)号：US10427064B2
公开(公告)日：2019-10-01
申请号：US15460240
申请日：2017-03-16
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Dingkai Xing , Yumiao Wu , Lefeng Liu
IPC: A63H33/04
Abstract: The present disclosure relates to a building block set including at least two building components that can be built together to form at least one track. The building block set includes a base, fixing brackets, and a partition sheet. Each fixing bracket includes a pair of supporting sheets facing each other, a pivot shaft connected between the two supporting sheets, and two hook-shaped portions respectively extending from the supporting sheets along a direction away from the pivot shaft.
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公开(公告)号：US20190278288A1
公开(公告)日：2019-09-12
申请号：US16236364
申请日：2018-12-29
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xi Luo , Sotirios Stasinopoulos
Abstract: The present disclosure provides a map generation method, localization method, and simultaneous localization and mapping method. The method includes: recognizing fiducial markers in the motion area; taking a position as origin of a global coordinate system of the robot, and obtaining pose information of the fiducial markers; the robot moving to a next position, recognizing the fiducial markers with determined coordinate information and underdetermined coordinate information respectively, and obtaining pose information of the fiducial marker of the undetermined coordinate information with respect to the origin based on that of the determined coordinate information; repeating the previous step until the pose information of all the fiducial markers are obtained; and generating a marker map associated with coordinate information of all fiducial markers. The method is capable of generating a map of the motion area through the fiducial markers and further realizing autonomous localization.
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公开(公告)号：US10384541B2
公开(公告)日：2019-08-20
申请号：US15647263
申请日：2017-07-12
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Libing Zhou , Wenhua Yu
Abstract: A laser radar module includes a laser radar, an upper cover disposed above the laser radar, a lower case disposed below the laser radar, and a locking assembly for connecting the upper cover to the lower case. A gap is formed between the upper cover and the lower case for the laser radar to transmit and receive signals.
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公开(公告)号：US20190240829A1
公开(公告)日：2019-08-08
申请号：US16231514
申请日：2018-12-23
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Weining Zhang , Hailei Li , Guangjun Hei
CPC classification number: B25J9/0006 , B25J9/1694 , B25J13/085
Abstract: A device capable of simulating a limb of a humanoid robot includes a vertically arranged guiding rail, a lower block fixed to the lower end of die guiding rail, an upper block slidably connected to rail, a lower linkage bar rotatably coupled to the lower block, an upper linkage bar rotatably coupled to the upper block, a joint module located between and rotatably coupled to the lower linkage bar and the upper linkage bar, a sensor configured to measure a force exerted on the joint; and a data processing module electrically connected to the sensor and configured to receive data from the sensor to determine a value of the force.
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公开(公告)号：US10345819B2
公开(公告)日：2019-07-09
申请号：US15839837
申请日：2017-12-12
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Libing Zhou , Jibang Cui , Gaobo Huang
Abstract: The present disclosure relates to a recharging robot system. The recharging robot system may include a signal emission device including at least one signal emission channel. The at least one signal emission channel each comprises an opening. A distance between two central axes of any two adjacent signal emission channels is gradually increased along a direction facing away the signal emitters. As such, an overlapping area of signal ranges of the at least two signal emitters may be reduced, and the robot may accurately determine which signal range that the robot is within, so as to accurately align with the recharging dock.
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Patent Agency Ranking
公开(公告)号：US20190208180A1
公开(公告)日：2019-07-04
申请号：US16205282
申请日：2018-11-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xiangnan Gu
IPC: H04N13/221 , H04N13/128
Abstract: The present disclosure provides a robot-based 3D picture shooting method and system and a robot using the same. The method includes: obtaining a distance between a photographed object and the photographing device of the robot based on a received shooting instruction; calculating an inter-axis distance based on the distance; obtaining the first picture after moving the robot for half of the inter-axis distance along the movement direction; obtaining the second picture after moving the robot for entire of the inter-axis distance from a current position along an opposite direction of the movement direction; and synthesizing the first picture and the second picture to obtain a 3D picture of the photographed object. In the process, the robot moves the photographing device according to the calculated inter-axis distance, and obtains two pictures of the left and right of the photographed object, which is not necessary to use a binocular camera.
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公开(公告)号：US20190202428A1
公开(公告)日：2019-07-04
申请号：US16231970
申请日：2018-12-25
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Xiangnan Gu , Yanhui Zhang , Xianli Jiang
CPC classification number: B60W10/16 , G01C3/20 , G05D1/0223 , G05D1/0236 , G05D2201/02
Abstract: A method for controlling a wheeled robot to move along a circular trajectory includes: determining a first distance between a laser emitter and a center of a circular trajectory on a surface where the robot moves and a second, perpendicular distance from the laser emitter to the surface, calculating a radius of the circular trajectory based on the first distance and the second distance, calculating, based on the radius, a distance between a first wheel and a second wheel, a ratio of a first linear velocity of the first wheel to a second linear velocity of the second wheel, and determining a first rotational speed and a second rotational speed based on the ratio, and controlling the first servo to operate at the first rotational speed and the second servo to operate at the second rotational speed so as to drive the robot to move along the circular trajectory.
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公开(公告)号：US20190202071A1
公开(公告)日：2019-07-04
申请号：US16228811
申请日：2018-12-21
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Hailei Li , Guangjun Hei , Weining Zhang
CPC classification number: B25J19/0091 , B25J9/0006 , B25J9/0009 , B25J13/085
Abstract: A robot foot structure for being used in conjunction with the main body structure of a humanoid robot is provided, the robot foot structure being connected to a bottom of the main body structure, wherein the robot foot structure includes a sole plate and a buffering mechanism provided on the sole plate, the buffering mechanism is configured to be connected between the sole plate and the main body structure of the humanoid robot for buffering a load acted on the robot foot structure generated by the weight of the main body structure during walking of the robot foot structure. A load generated by the weight of the main body structure during walking is acted on the buffering mechanism which in turn absorbs an impact resulted from the load as the robot foot structure touches the ground, such that the service life of the robot foot structure can be extended.
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公开(公告)号：US20190202067A1
公开(公告)日：2019-07-04
申请号：US16214155
申请日：2018-12-10
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Gaobo Huang , Musen Zhang , Xiangbin Huang
CPC classification number: B25J13/089 , B25J9/1697 , B25J13/006 , B25J19/022 , G06K9/629
Abstract: A computer-implemented method for localizing a robot comprising an ultra wideband (UWB) localization device, at least one sensor and a particle filter localization device. The method comprising executing on a processor steps of: acquiring first location information of the robot through the UWB localization device; acquiring second location information within a range defined by the first location information through the at least one sensor, wherein the second location information comprising current location information and running orientation data of the robot; and determining, by the particle filter localization device, whether there exists a localization point matching the second location information in data of a preset map; if so, determining that the second location information is valid location information of the robot.
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公开(公告)号：US20190196477A1
公开(公告)日：2019-06-27
申请号：US16231512
申请日：2018-12-23
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Zheng Xie , Chunyu Chen , Yizhang Liu , Ligang Ge
IPC: G05D1/02
CPC classification number: G05D1/027 , G05D1/0272 , G05D2201/0217
Abstract: The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.
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