公开(公告)号：US20190199899A1

公开(公告)日：2019-06-27

申请号：US16195871

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu

IPC: H04N5/232 ,  B25J9/16 ,  B25J19/02

CPC classification number: H04N5/2329 ,  B25J9/1664 ,  B25J9/1697 ,  B25J19/023 ,  H04N5/23258 ,  H04N5/23267

Abstract: The present disclosure provides a shutter speed adjusting method and apparatus or a robot with a photographing device, and a robot using the same. The method includes: obtaining a motion speed of the robot: obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device; obtaining a distance between the robot and a photographed object; and adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance. Through the present disclosure, the problem of blurred picture caused by the movement of the robot itself can be avoided, thereby improving the photographing quality.

公开(公告)号：US20190195653A1

公开(公告)日：2019-06-27

申请号：US16195868

申请日：2018-11-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangbin Huang

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

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：US20190195631A1

公开(公告)日：2019-06-27

申请号：US16030843

申请日：2018-07-09

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Longbiao Bai ,  Zhichao Liu ,  Zhangjia Bi

IPC: G01C21/16 ,  H04W4/02 ,  G05D1/02 ,  G05B19/402

CPC classification number: G01C21/16 ,  G05B19/402 ,  G05B2219/31081 ,  G05D1/021 ,  H04W4/02

Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.

公开(公告)号：US20190193265A1

公开(公告)日：2019-06-27

申请号：US16022709

申请日：2018-06-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Gaobo Huang ,  Jiawen Hu

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

CPC classification number: B25J9/1664 ,  B25J9/0009 ,  B25J17/0241

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.

公开(公告)号：US10333838B2

公开(公告)日：2019-06-25

申请号：US15649590

申请日：2017-07-13

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Hailang Zhou ,  Musen Zhang

IPC: H04L12/721 ,  H04L12/403 ,  H04L12/40

Abstract: The present disclosure relates to a frame transmission method and a frame transmission device. The data frame includes an arbitration field and a data field. The arbitration field includes a frame mode indication sub-field indicating a frame mode of the data frame, and the data field includes an instruction sub-field indicating instruction messages carried the data frame. A great deal of information may be obtained by the configuration of the present disclosure, and thus the transmission efficiency may be enhanced.

公开(公告)号：US20190160669A1

公开(公告)日：2019-05-30

申请号：US15960571

申请日：2018-04-24

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Zhenmin Mo

IPC: B25J9/16 ,  G05B13/02

Abstract: The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.

公开(公告)号：US20190160656A1

公开(公告)日：2019-05-30

申请号：US15856152

申请日：2017-12-28

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiaopeng Wu ,  Lefeng Liu

IPC: B25J9/10 ,  B25J15/00

Abstract: A linkage mechanism includes a chest assembly of a robot; a servo arranged within the chest assembly and comprising an output shaft; a first linkage member including a first end and a second opposite end, the first end being connected to the output shaft; a forearm assembly rotatably connected to the second end of the first linkage member, and a second linkage member. Opposite ends of the second linkage member are rotatably connected to the chest assembly and the forearm assembly.

公开(公告)号：US10275639B2

公开(公告)日：2019-04-30

申请号：US15356789

申请日：2016-11-21

Applicant: UBTECH Robotics Corp.

Inventor： Yuan Ji ,  Youjun Xiong

IPC: G06K9/36 ,  G06K9/00 ,  G05B19/406 ,  G06T1/00

Abstract: A face detecting and tracking method includes: acquiring an image and performing a face detection to determine one or more face boxes of each acquired image; performing a detection error removing process to the image of current frame, and saving one of the one or more face boxes of the processed image of current frame as a first face box; and determining a tracking box of the image of current frame based on the first face box and a tracked face box, and tracking the face in the tracking box of the image of current frame.

公开(公告)号：US20190118385A1

公开(公告)日：2019-04-25

申请号：US16140541

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge

IPC: B25J13/08 ,  B25J17/00 ,  B62D57/032

Abstract: The present disclosure relates to robot technology, which provides a footed robot landing control method and device. The method includes: detecting a landing motion state of the robot; if the landing motion state is a flight phase descending state, a motion of the foot portion of the robot with respect to a ground in the flight phase descending state is controlled based on a relative speed; if the landing motion state is a support phase landing state, a motion of joints of the robot in the support phase landing state is controlled based on a first expected joint torque. The present disclosure is capable of reducing the impact of the foot portion against the ground, thereby realizing the flexible control of the landing process of the footed robot in a simple and rapid manner and reducing the cost of the footed robot.

公开(公告)号：US10232507B2

公开(公告)日：2019-03-19

申请号：US15469557

申请日：2017-03-26

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Meichun Liu

IPC: B25J9/10 ,  B62D57/032

Abstract: A waist structure includes: a support assembly located between a trunk structure and two leg structures; a waist servo mounted on the support assembly and two first-stage leg servos; and a transmission member connected between the waist servo and the first-stage leg servos. The waist servo connects the trunk structure to the support assembly, and the first-stage leg servos connect the support assembly to the leg structures. The waist servo includes an output shaft connected to the transmission member. Each first-stage leg servo has a connecting end. The transmission member includes a first connecting member and a second connecting member securely mounted on the connecting ends, the first transmission member mounted on the output shaft and connected to the first connecting member, and the second transmission member which is driven by the first transmission member connects to the second connecting member.