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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：US20200005487A1
公开(公告)日：2020-01-02
申请号：US16416281
申请日：2019-05-20
发明人： Chenchen Jiang , Youjun Xiong , Zhichao Liu
摘要： The present disclosure provides a positioning method and a robot using the same. The method includes: obtaining, through the visual sensor, a current frame image; obtaining, through the ultra-wideband tag, distance of a robot from an ultra-wideband anchor; performing a feature matching on the current frame image and an adjacent frame image to generate partial map point(s); determining whether the current frame image is a key frame image; and optimizing a pose of the visual sensor corresponding to the key frame image through a joint objective function in response to the current frame image being the key frame image, where the joint objective function at least comprises a distance cost function of the ultra-wideband anchor and a visual residual cost function. Through the above-mentioned method, the accuracy of the positioning of the robot can be improved.
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53.发明授权公开(公告)号：US12122468B2
公开(公告)日：2024-10-22
申请号：US17562985
申请日：2021-12-27
发明人： Hongge Wang , Ligang Ge , Yizhang Liu , Jie Bai , Chunyu Chen , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
IPC分类号： B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/1664
摘要： A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.
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公开(公告)号：US20240286282A1
公开(公告)日：2024-08-29
申请号：US18395309
申请日：2023-12-22
发明人： YULONG GU , Youjun Xiong , Simin Zhang , Yun Zhao
CPC分类号： B25J9/1661 , B25J9/161 , B25J9/1653 , B25J19/022
摘要： A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.
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公开(公告)号：US11938635B2
公开(公告)日：2024-03-26
申请号：US17702819
申请日：2022-03-24
发明人： Zhihao Zhang , Yizhang Liu , Jinliang Chen , Youjun Xiong
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1607
摘要： A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.
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公开(公告)号：US11919162B2
公开(公告)日：2024-03-05
申请号：US17134155
申请日：2020-12-24
发明人： Wei He , Youjun Xiong
CPC分类号： B25J9/1617 , A63H33/04 , G06F13/4068 , G05B2219/40304
摘要： An identification (ID) number setting method for a modular device that comprises a master building element and a plurality of slave building elements that are connected to the master building element, includes: disconnecting the slave building elements from the master building element; setting ID numbers of all of the slave building elements to be a preset ID number; and assigning new ID numbers to slave building elements of N tiers that are connected to one output interface of the master building element in an order from first tier to Nth tier, wherein the slave building elements of the first tier are slave building elements that are directly connected to the output interface, the slave building elements of the Nth tier are slave building elements that are indirectly connected to the output interface through slave building elements of a (N−1)th tier, N is a natural number greater than 1.
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公开(公告)号：US11901668B2
公开(公告)日：2024-02-13
申请号：US16926634
申请日：2020-07-10
发明人： Wei He , Youjun Xiong
CPC分类号： H01R13/6205 , B25J9/08 , B25J13/087 , B25J19/0025 , H01R13/6683
摘要： A modular device includes a polyhedral building element having a first type connector and a number of second type connectors; and a main control module comprising a plurality of second type connectors. The first type connector and the second type connectors are disposed on side surfaces of the building element. One of the second type connectors of the main control module is used to magnetically connect with the first type connector of the building element so as to detachably connect the building element to the main control module. The first type connector includes a first detection circuit, and each second type connector includes a second detection circuit.
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58.发明公开公开(公告)号：US20240017404A1
公开(公告)日：2024-01-18
申请号：US18371472
申请日：2023-09-22
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong
IPC分类号： B25J9/16
CPC分类号： B25J9/1628
摘要： A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.
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公开(公告)号：US11850747B2
公开(公告)日：2023-12-26
申请号：US17112569
申请日：2020-12-04
发明人： Miaochen Guo , Jun Cheng , Jingtao Zhang , Shuping Hu , Dong Wang , Jianxin Pang , Youjun Xiong
CPC分类号： B25J9/161 , B25J9/1697 , B25J19/023 , G06N3/08
摘要： The present disclosure provides an action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting a plurality of action images of a to-be-imitated object; processing the action images through a pre-trained convolutional neural network to obtain a position coordinate set of position coordinates of a plurality of key points of each of the action images; calculating a rotational angle of each of the linkages of the to-be-imitated object based on the position coordinate sets of the action images; and controlling a robot to move according to the rotational angle of each of the linkages of the to-be-imitated object. In the above-mentioned manner, the rotational angle of each linkage of the to-be-imitated object can be obtained by just analyzing and processing the images collected by an ordinary camera without the help of high-precision depth camera.
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60.发明公开公开(公告)号：US20230398684A1
公开(公告)日：2023-12-14
申请号：US18236395
申请日：2023-08-21
发明人： JIAJUN WANG , Mingguo Zhao , Youjun Xiong
IPC分类号： B25J9/16 , B25J13/08 , G05B19/4155
CPC分类号： B25J9/1628 , B25J13/085 , B25J9/1607 , G05B19/4155 , G05B2219/50391
摘要： A method for detecting contact of a swinging leg of a robot with ground includes: obtaining a torque on each joint of the swinging leg when the robot is in a swing phase; estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot; and determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.
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