公开(公告)号：US20210200961A1

公开(公告)日：2021-07-01

申请号：US17102395

申请日：2020-11-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chi Shao ,  Dongyan Huang ,  Wan Ding ,  Youjun Xiong

IPC: G06F40/35 ,  G06F40/284 ,  G06N3/04

Abstract: The present disclosure discloses a context-based multi-turn dialogue method. The method includes: obtaining to-be-matched historical dialogue information; performing a word feature extraction based on the to-be-matched historical dialogue information to obtain a historical dialogue word embedding; obtaining candidate answer information; performing the word feature extraction based on the candidate answer information to obtain a candidate answer word embedding; obtaining a historical dialogue partial matching vector and a candidate answer partial matching vector by performing partial semantic relationship matching based on the historical dialogue word embedding and the candidate answer word embedding; obtaining a candidate answer matching probability by performing a matching probability calculation based on the historical dialogue partial matching vector and the candidate answer partial matching vector; and determining matched answer information based on the candidate answer information and the candidate answer matching probability.

公开(公告)号：US20210200224A1

公开(公告)日：2021-07-01

申请号：US17109099

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

公开(公告)号：US20210197384A1

公开(公告)日：2021-07-01

申请号：US16843921

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Miaochen Guo ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/04 ,  B25J9/06 ,  B25J9/00 ,  B25J13/08 ,  B25J19/04 ,  B25J9/12 ,  B25J17/02

Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.

公开(公告)号：US11045953B2

公开(公告)日：2021-06-29

申请号：US16427349

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Jian Zhang ,  Yongsheng Zhao ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocalization result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.

公开(公告)号：US20210178588A1

公开(公告)日：2021-06-17

申请号：US17120229

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US11034028B2

公开(公告)日：2021-06-15

申请号：US16561033

申请日：2019-09-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xu Hu ,  Peng Nie ,  Wei Fang ,  Jiawen Hu ,  Youjun Xiong

IPC: B25J13/08 ,  G05D1/02 ,  G05B19/18

Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.

公开(公告)号：USD921083S1

公开(公告)日：2021-06-01

申请号：US29734166

申请日：2020-05-09

Applicant: UBTECH ROBOTICS CORP LTD

Designer： Francisco Jose Hernandez ,  Brandon Jon LaPlante ,  Shixun Chen ,  Chengkun Zhang ,  Huan Tan ,  Youjun Xiong

公开(公告)号：US11022983B2

公开(公告)日：2021-06-01

申请号：US16172838

申请日：2018-10-28

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Ligang Ge ,  Chunyu Chen ,  Yizhang Liu ,  Zheng Xie ,  Zhaohui An ,  Jinghua Tang

IPC: G05D1/02 ,  B25J9/10 ,  B25J9/16 ,  B25J17/00 ,  B62D57/032 ,  G05D1/08 ,  B25J13/08

Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.

公开(公告)号：US20210146793A1

公开(公告)日：2021-05-20

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 ,  H02J7/00 ,  B60L53/16 ,  H01R13/631

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.

公开(公告)号：US11002528B2

公开(公告)日：2021-05-11

申请号：US16236362

申请日：2018-12-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jialong Kuang ,  Rui Gu

IPC: G01B11/00 ,  G01J3/50 ,  G09G3/00 ,  G05D1/02

Abstract: A grayscale tracking sensing module includes: a main control unit, and a grayscale acquisition unit comprising at least five grayscale sensors electronically connected to the main control unit. The at least five grayscale sensors are formed a V-shape, with one of the grayscale sensors arranged at an apex of the V-shape and the rest of the grayscale sensors offsettingly arranged at two opposite sides of said one of the grayscale sensors. A smart terminal are also provided.