公开(公告)号：US20210193160A1

公开(公告)日：2021-06-24

申请号：US17084672

申请日：2020-10-30

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： RUOTONG WANG ,  Zhichao Tang ,  Dongyan Huang ,  Jiebin Xie ,  Zhiyuan Zhao ,  Yang Liu ,  Youjun Xiong

IPC: G10L21/013 ,  G10L25/03 ,  G10L25/27 ,  G10L19/02 ,  G06N20/00

Abstract: The present disclosure discloses a voice conversion method. The method includes: obtaining a to-be-converted voice, and extracting acoustic features of the to-be-converted voice; obtaining a source vector corresponding to the to-be-converted voice from a source vector pool, and selecting a target vector corresponding to the target voice from the target vector pool; obtaining acoustic features of the target voice output by the voice conversion model by using the acoustic features of the to-be-converted voice, the source vector corresponding to the to-be-converted voice, and the target vector corresponding to the target voice as an input of the voice conversion model; and obtaining the target voice by converting the acoustic features of the target voice using a vocoder. In addition, a voice conversion apparatus and a storage medium are also provided.

公开(公告)号：US20210162595A1

公开(公告)日：2021-06-03

申请号：US16932872

申请日：2020-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J5/00

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.

公开(公告)号：USD921082S1

公开(公告)日：2021-06-01

申请号：US29734165

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：USD921080S1

公开(公告)日：2021-06-01

申请号：US29733166

申请日：2020-04-30

Applicant: UBTECH ROBOTICS CORP LTD

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

公开(公告)号：US11020683B2

公开(公告)日：2021-06-01

申请号：US16727949

申请日：2019-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiongyuan Fang ,  Youjun Xiong ,  Tao Bai

IPC: A63H33/08 ,  A63H33/06

Abstract: A building block includes at least one of a plug portion and a socket portion. The plug portion has two cantilevered tongues deflectable toward each other. Each cantilevered tongue includes a first engaging portion. The socket portion defines a chamber and has two second engaging portions. The plug portion and the socket portion are configured in such a way that the plug portion of one building block is insertable into the chamber of the socket portion of another building block, and the two cantilevered tongues of the building block deflect toward each other after insertion of the plug portion of the building block into the chamber of the socket portion of the other building block, which allows the first engaging portions of the building block to be engaged with the second engaging portions of the other building block, thereby connecting the two building blocks together.

公开(公告)号：US11007639B2

公开(公告)日：2021-05-18

申请号：US16669554

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Youjun Xiong

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

Abstract: The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.

公开(公告)号：USD918310S1

公开(公告)日：2021-05-04

申请号：US29687309

申请日：2019-04-12

Applicant: UBTECH Robotics Corp

Designer： Yumiao Wu ,  Lefeng Liu ,  Qiujie Lin ,  Xinshui Huang ,  Youjun Xiong

公开(公告)号：US10990107B2

公开(公告)日：2021-04-27

申请号：US16159743

申请日：2018-10-15

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Meichun Liu ,  Xiaopeng Wu

IPC: G05D1/02 ,  G01S7/481 ,  B62D57/032 ,  G01S17/931

Abstract: A foot of a robot includes a lower plate, a first infrared transmitting and receiving unit and a circuit board electrically connected to the first infrared transmitting and receiving unit that are arranged on the lower plate. The first infrared transmitting and receiving unit is arranged in such a way that infrared light transmitted from and received by the first infrared transmitting and receiving unit travels in paths that are inclined with respect to the lower plate toward an area in front of the foot when the lower plate is substantially horizontal, so as to detect existence of a footing.

公开(公告)号：US20210063577A1

公开(公告)日：2021-03-04

申请号：US16699750

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHICHAO LIU ,  Youjun Xiong

IPC: G01S17/89 ,  G05D1/02 ,  G01S7/48

Abstract: The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.

公开(公告)号：US10913155B2

公开(公告)日：2021-02-09

申请号：US16022709

申请日：2018-06-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Gaobo Huang ,  Jiawen Hu

IPC: B25J9/00 ,  B25J9/16 ,  B25J17/02

Abstract: A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.