公开(公告)号：US10717188B2

公开(公告)日：2020-07-21

申请号：US16114220

申请日：2018-08-28

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Kunlei Zhao

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10 ,  F16H55/22 ,  F16H1/12 ,  B25J9/00

Abstract: A spatial crossed-axis transmission mechanism includes a rotatable driving member, an actuating member, and a support member for fixing the driving member and the actuating member. The driving member comprises a first end surface adjacent to the support member, and an Archimedes spiral groove is defined in the first end surface of the driving member. The actuating member includes an end surf adjacent to the support member and a sliding shaft on the end surface of the actuating member. The support member defines a straight groove passing therethrough, and the sliding shaft comprises an end that extends through the straight groove and fits into the Archimedes spiral groove.

公开(公告)号：US20200209880A1

公开(公告)日：2020-07-02

申请号：US16427362

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Hongjian Liu ,  Zhanjia Bi ,  Jianxin Pang

IPC: G05D1/02 ,  G06T7/70 ,  G06T7/20

Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle in of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.

公开(公告)号：US20200209876A1

公开(公告)日：2020-07-02

申请号：US16396783

申请日：2019-04-29

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Yongsheng Zhao ,  Youjun Xiong ,  Longbiao Bai ,  Jianxin Pang

IPC: G05D1/02 ,  B25J9/00 ,  B25J9/16

Abstract: 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.

公开(公告)号：US20200206955A1

公开(公告)日：2020-07-02

申请号：US16370891

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

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

IPC: B25J15/10 ,  B25J9/10

Abstract: A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.

公开(公告)号：US10529323B2

公开(公告)日：2020-01-07

申请号：US15712072

申请日：2017-09-21

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lin Chen

IPC: G10L15/18 ,  G10L15/22 ,  G06F16/242 ,  G06F17/27

Abstract: The present disclosure relates to a semantic processing method of robots, including: receiving, by a semantic processing platform, a voice request from a robot, performing a sematic analysis on the voice request to obtain a current sematic intention, determining whether a response matching the current semantic intention is stored in a database, obtaining the response from the database if determining that the response is stored in the database, obtaining the response by accessing a third-party application corresponding to the current semantic intention if determining that the response is not stored in the database, and transmitting the response to the robot to guide the robot to perform a corresponding action. The present disclosure further provides a semantic processing device.

公开(公告)号：US20200005487A1

公开(公告)日：2020-01-02

申请号：US16416281

申请日：2019-05-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Youjun Xiong ,  Zhichao Liu

IPC: G06T7/73 ,  G06T7/80 ,  H04W8/02

Abstract: 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.

公开(公告)号：US10485124B2

公开(公告)日：2019-11-19

申请号：US15640583

申请日：2017-07-03

Applicant: UBTECH Robotics Corp.

Inventor： Wenhua Yu ,  Youjun Xiong

IPC: B25J19/00 ,  H05K5/02 ,  H05K5/00

Abstract: A cable management structure for managing a connection cable in a robot includes a head structure, a waist structure and a base. The waist structure includes a rotating member, a rotating assembly and a fixed assembly. The rotating assembly is rotatably connected to the fixed assembly. The rotating member, the rotating assembly and the fixed assembly are coaxial. The rotating member defines a through hole. The rotating assembly is connected to the head structure and defines a passage communicating with the through hole. The fixed assembly is connected to the base. The base includes a main circuit board, and the main circuit board is located below the through hole. The connection cable includes a first end connected to the main circuit board and a second, opposite end passing through the through hole and the passage and extending into the head structure.

公开(公告)号：US10447992B1

公开(公告)日：2019-10-15

申请号：US16104143

申请日：2018-08-17

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Cihui Pan ,  Shengqi Tan ,  Xianji Wang ,  Jianxin Pang

IPC: H04N13/221 ,  G06T1/00 ,  H04N13/296 ,  G06T7/174 ,  H04N13/00

Abstract: The present disclosure discloses a method and a system for image processing. The method includes: obtaining images of a target environment captured by a robot in a preset movement trajectory according to a predefined condition; combining every two of the images having a same region into a corresponding image pair based on an initial position estimation of each of the images; producing an image seed based on the image pair; performing position optimization on the image seed; producing an image subset based on the image seed after the position optimization; and performing position optimization on the image subset based on the image seeds in the image subset. It can effectively reduce the computational complexity of image matching, reduce the calculation time, and improve the accuracy of image processing.

公开(公告)号：US10357882B2

公开(公告)日：2019-07-23

申请号：US15669962

申请日：2017-08-07

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Hailang Zhou ,  Musen Zhang

IPC: G06F9/44 ,  B25J13/00 ,  H04L12/403 ,  H04L12/40 ,  G06F8/61 ,  G06F8/60 ,  G06F11/14 ,  G06F9/455 ,  G06F8/71 ,  G06F8/658 ,  G06F16/23 ,  G06F8/65

Abstract: The present disclosure relates to a data upgrading method, including: transmitting a data region preparation request for preparing a data region, transmitting a length of the upgraded data packet via a block control instruction frame, wherein a node adjusts the data region according to the length of the upgraded data packet, receiving the length of the data region, and transmitting the upgraded data packet according to a predetermined sending sequence. As such, the abnormal operations may be avoided and the reliability may be enhanced.

公开(公告)号：US20190204848A1

公开(公告)日：2019-07-04

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 ,  B25J13/08 ,  B25J17/00 ,  B62D57/032 ,  G05D1/08

CPC classification number: G05D1/0268 ,  B25J9/106 ,  B25J9/1615 ,  B25J13/08 ,  B25J17/00 ,  B62D57/032 ,  G05D1/0891 ,  G05D2201/0217

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 art initial position of an ankle joint of the biped robot and a rotation angle 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.