公开(公告)号：US10894319B2

公开(公告)日：2021-01-19

申请号：US16671164

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongping Zeng ,  Youjun Xiong ,  Zhongliang Wang ,  Dong Liu ,  Jianxin Pang

IPC: B25J19/00 ,  B25J9/16 ,  B25J9/10 ,  G05F1/10 ,  G05B19/414

Abstract: 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.

公开(公告)号：US10891945B2

公开(公告)日：2021-01-12

申请号：US16232051

申请日：2018-12-26

Applicant: UBTECH ROBOTICS CORP.

Inventor： Youjun Xiong ,  Haoming Li ,  Yanhui Xia ,  Liyang Li ,  Pinxiu Wen

IPC: G10L15/18 ,  G10L15/06 ,  G10L25/78

Abstract: The present disclosure discloses a method and an apparatus for judging termination of sound reception and a terminal device. The method including: performing a voice activity detection on a current sound clip to obtain a first value; performing a semantic relevance detection on the current sound clip and a next sound clip by deep learning to obtain a second value; performing a weighted calculation on the first value and the second value to obtain a third value; comparing the third value with a preset threshold; and determining whether sound reception of the current sound clip is terminated based on the comparison result.

公开(公告)号：US10882184B2

公开(公告)日：2021-01-05

申请号：US16236521

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Hanyu Sun ,  Xi Bai ,  Jianxin Pang

IPC: G05B19/19 ,  B25J9/16 ,  B25J9/00

Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.

公开(公告)号：US10857681B2

公开(公告)日：2020-12-08

申请号：US16370889

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

Inventor： Sicong Liu ,  Youjun Xiong ,  Hongyu Ding ,  Qidong Xu ,  Jianxin Pang

IPC: B25J15/08 ,  F16C1/12 ,  F16H25/20 ,  B25J15/00 ,  F16C1/16

Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.

公开(公告)号：US10827258B2

公开(公告)日：2020-11-03

申请号：US16447978

申请日：2019-06-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Fanglin Xing

IPC: H04R1/40 ,  G10L19/008 ,  H04R1/02

Abstract: The present disclosure provides a robot and an audio data processing method thereof. The robot includes a body, a main control module, and a sound pickup module. The sound pickup module includes microphones divided into a first microphone array and a second microphone array; the first microphone array includes N microphones disposed around the body; the second microphone array includes M microphones disposed on the body and located on a line connecting two of the microphones in the first microphone array; the main control module is configured to obtain N channels of audio data through the first microphone array, obtain M channels of audio data through the second microphone array, and perform a sound source localization and a sound pickup based on the N channels of audio data and the M channels of audio data.

公开(公告)号：US10788334B2

公开(公告)日：2020-09-29

申请号：US16195868

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangbin Huang

IPC: G01C25/00 ,  G07C5/02 ,  G05D1/02 ,  G06F17/13

Abstract: The present disclosure provides an omni wheel mileage calibration method and apparatus, as well as a robot using the wane. The method includes: (a) calibrating the omni wheel through a linear motion to obtain a straight line calibration result; (b) calibrating the omni wheel through a rotational motion to obtain a rotation calibration result; (c) performing error verification to the straight line calibration result and the rotation calibration result along a preset movement trajectory having a loop to obtain an error verification result; (d) determining a straight line calibration corresponding to the straight line calibration result and a rotation calibration corresponding to the rotation calibration result being successful in response to the error verification result meeting a preset precision requirement. The present disclosure provides a mileage calibration method for an omni wheel system, which improves the operation precision of a robot.

公开(公告)号：US10778959B2

公开(公告)日：2020-09-15

申请号：US16205282

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N13/00 ,  H04N13/128 ,  H04N13/211 ,  H04N13/296 ,  H04N13/221

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.

公开(公告)号：US10771925B1

公开(公告)日：2020-09-08

申请号：US16699763

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Wanjun He ,  Yu Tang ,  Youjun Xiong ,  Jianxin Pang

IPC: H04W4/02 ,  H04B17/27 ,  H04W4/029 ,  H04W48/10 ,  H04B17/318

Abstract: 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.

公开(公告)号：US20200241112A1

公开(公告)日：2020-07-30

申请号：US16699765

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHICHAO LIU ,  Jian Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: G01S7/48 ,  G06K9/62 ,  G01S17/931

Abstract: 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.

公开(公告)号：US10727821B2

公开(公告)日：2020-07-28

申请号：US16509515

申请日：2019-07-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Hanyu Sun

IPC: H03K3/00 ,  H03K3/3565 ,  H03K5/24

Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.