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公开(公告)号：US11441726B2
公开(公告)日：2022-09-13
申请号：US16435575
申请日：2019-06-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Youjun Xiong , Wenhua Yu , Jiawen Hu , Yangyu Pi
Abstract: A connection assembly for holding a support member in position includes: a base defining a receiving hole to receive an end portion of the support member, and a guiding hole in a lateral surface thereof, which communicates with the receiving hole; a fixing block; a locking member slidably received in the guiding hole and slidable between a first position where the locking member is engaged with the support member so as to hold the support member in position, and a second position where the locking member is disengaged from the support member; and an actuating member connected to the fixing block and the locking member, the actuating member being configured to drive the locking member to move between the first position and the second position.
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公开(公告)号：US11423646B2
公开(公告)日：2022-08-23
申请号：US16953378
申请日：2020-11-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Chenchen Jiang , Youjun Xiong
Abstract: A loop closure detection method, a mobile device, and a computer readable storage medium are provided. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.
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43.发明授权公开(公告)号：US11417316B2
公开(公告)日：2022-08-16
申请号：US17115729
申请日：2020-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Dongyan Huang , Leyuan Sheng , Youjun Xiong
IPC: G10L13/08 , G10L13/047 , G10L25/24
Abstract: The present disclosure provides a speech synthesis method as well as an apparatus and a computer readable storage medium using the same. The method includes: obtaining a to-be-synthesized text, and extracting to-be-processed Mel spectrum features of the to-be-synthesized text through a preset speech feature extraction algorithm; inputting the to-be-processed Mel spectrum features into a preset ResUnet network model to obtain first intermediate features; performing an average pooling and a first down sampling on the to-be-processed Mel spectrum features to obtain second intermediate features; taking the second intermediate features and the first intermediate features output by the ResUnet network model as an input to perform a deconvolution and a first up sampling so as to obtain target Mel spectrum features corresponding to the to-be-processed Mel spectrum features; and converting the target Mel spectrum features into a target speech corresponding to the to-be-synthesized text.
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公开(公告)号：US11372414B2
公开(公告)日：2022-06-28
申请号：US16817565
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Musen Zhang , Wenzhi Xu , Youjun Xiong
IPC: G05D1/02
Abstract: A robotic motion control method provided by the present disclosure includes: obtaining a position and orientation of a starting point where the robot is currently located through a positioning sensor, and obtaining a position and orientation of a preset target point where the robot is moved to; determining an arc path and a straight path of the robot according to the position and orientation of the starting point, the position and orientation of the preset target point, and a preset arc radius; and moving the robot to the preset target point according to the determined arc path and straight path. Because there are only pure circular motion and pure linear motion which are simple during the movement of the robot, it is beneficial to improve the precision of the motion control of the robot and enable the robot to reach the target position in a reliable manner.
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45.发明授权公开(公告)号：US11367456B2
公开(公告)日：2022-06-21
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 , G10L13/033 , G10L15/02 , G10L15/04 , G10L25/03 , G10L25/69
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.
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Patent Agency Ranking
公开(公告)号：US11353887B2
公开(公告)日：2022-06-07
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 the initial value of the 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：US11282502B2
公开(公告)日：2022-03-22
申请号：US17006936
申请日：2020-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rixing Huang , Youjun Xiong
Abstract: A computer-implemented method for utterance generation, a smart device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a first utterance to be answered, generating at least one random semantic vector, inputting the at least one random semantic vector and the first utterance into a trained generator, and obtaining at least one first answer outputted by the trained generator, wherein the trained generator is obtained based on a preset generative adversarial network. Due to the random semantic vector, even for the same utterance, the smart device can generate different answers corresponding to the different random semantic vectors, the possibility of generating too many identical answers during the human-machine conversation is reduced, and the fun during the human-machine conversation is enhanced.
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公开(公告)号：US11230012B2
公开(公告)日：2022-01-25
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.
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公开(公告)号：US11214162B2
公开(公告)日：2022-01-04
申请号：US16870902
申请日：2020-05-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Defu Liu , Wenhua Yu , Huai Peng , Youjun Xiong
IPC: B60L53/36 , B60L53/16 , H01R13/631 , H02J7/00
Abstract: A charging module for use with a charging station that includes a first connector, includes a housing, a second connector, and a guide structure configured to guide the first connector in a vertical direction. The guide structure includes a guiding member fixed to the second connector, or a guiding mechanism that elastically connects the second connector to the housing and allows the second connector to move with respect to the housing in the vertical direction.
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公开(公告)号：US11207789B2
公开(公告)日：2021-12-28
申请号：US16709927
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youpeng Li , Youjun Xiong , Hongyu Ding , Meichun Liu , Jianxin Pang
Abstract: A robotic arm assembly includes a main body, a number of servos arranged within the main body, each of which has an output shaft, and a rotary connection member connected to the output shaft of one of the servos at a first end of the main body. The rotary connection member defines a through hole allows cables to pass therethrough.
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