公开(公告)号：US10994408B2

公开(公告)日：2021-05-04

申请号：US16231514

申请日：2018-12-23

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Weining Zhang ,  Hailei Li ,  Guangjun Hei

IPC: B25J9/00 ,  B25J13/08 ,  B25J9/16

Abstract: A device capable of simulating a limb of a humanoid robot includes a vertically arranged guiding rail, a lower block fixed to the lower end of die guiding rail, an upper block slidably connected to rail, a lower linkage bar rotatably coupled to the lower block, an upper linkage bar rotatably coupled to the upper block, a joint module located between and rotatably coupled to the lower linkage bar and the upper linkage bar, a sensor configured to measure a force exerted on the joint; and a data processing module electrically connected to the sensor and configured to receive data from the sensor to determine a value of the force.

公开(公告)号：US20210124925A1

公开(公告)日：2021-04-29

申请号：US16726833

申请日：2019-12-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yang Li ,  Jing Gu ,  Yue Wang ,  Ao Liu ,  Jun Cheng

IPC: G06K9/00 ,  G06T7/62 ,  G06K9/62 ,  G06T7/70

Abstract: The present disclosure provides a picture hook identification method as well as an apparatus and a terminal device using the same. The method includes; determining geometric parameter(s) of an identification object based on image(s) collected b a camera and internal parameter(s) of the camera; comparing the geometric parameters of the identification object with geometric parameter(s) of a target picture book; and determining the identification object as the target picture book, if a difference between the geometric parameters of the identification object and the geometric parameters of the target picture book is within a preset range. In this manner, the target picture book is further filtered by matching the geometric parameters, which can reduce misidentification to improve the accuracy of identifying the picture book.

公开(公告)号：US10981275B2

公开(公告)日：2021-04-20

申请号：US16261572

申请日：2019-01-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Zhiying Wu ,  Yidan Wang ,  Hui Lin

IPC: B25J9/16 ,  B25J9/12

Abstract: The present disclosure provides a robot control method, apparatus and a storage medium with the same. The method includes: obtaining a serial number and a rotational angle parameter of a first servo corresponding to a preset motion frame portion of a first motion; obtaining a serial number of a second servo located symmetrical to the first servo; receiving an instruction for mirroring the preset motion frame portion; performing a preset mirroring processing on a rotational angle parameter of the second servo according to the instruction; and storing the mirrored rotational angle parameter in a motion frame portion of a second motion; performing the first motion and the second motion. In the above-mentioned manner, the difficulty in adjusting the motion frame in the mirroring operation of the robot is largely simplified, and the accuracy and efficiency of the mirroring operation are improved.

公开(公告)号：US20210107147A1

公开(公告)日：2021-04-15

申请号：US16726196

申请日：2019-12-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wenzhi Xu ,  Xiangbin Huang ,  Wenxue Xie ,  Youjun Xiong

IPC: B25J9/16

Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.

公开(公告)号：US10967500B2

公开(公告)日：2021-04-06

申请号：US16212634

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Rixin Shen

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B62D57/032

Abstract: The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P1 of an output shaft of the servo currently at and a first time T1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P2 for the output shaft of the servo to reach and a second time T2 for the output shaft of the servo to rotate from the first rotational angle P1 to the second rotational angle P2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P1, the second rotational angle P2, the first time T1, and the second time T2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.

公开(公告)号：US10960552B2

公开(公告)日：2021-03-30

申请号：US16140541

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

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

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

Abstract: A footed robot landing control method and device are provided. The footed robot landing control 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 footed robot landing control method and device are 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：US10957090B2

公开(公告)日：2021-03-23

申请号：US16528645

申请日：2019-08-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Ding Peng ,  Jing Yang ,  Xiaomin Zheng ,  Xin Li ,  Qingchun Huang ,  Xing Xiao

IPC: G06T11/00 ,  G06T13/80 ,  G06F16/58 ,  G06F16/14 ,  G06F16/583

Abstract: The present disclosure provides an eye animated expression display method. The method includes: receiving an instruction for displaying an eye animated expression; parsing a JSON file storing the eye animated emoticon to obtain a parsing result; and displaying the eye animated emoticon on the eye display screen based on the parsing result. The present disclosure further provides a robot. In the above-mentioned manner, the present disclosure is capable of improving the interactive performance of the eyes of the robot while reducing the space for storing eye animated expressions.

公开(公告)号：US20210060802A1

公开(公告)日：2021-03-04

申请号：US16709931

申请日：2019-12-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Youjun Xiong

IPC: B25J19/02 ,  B25J9/16 ,  G05B13/04

Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.

公开(公告)号：US20210056266A1

公开(公告)日：2021-02-25

申请号：US16734389

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Li Ma ,  Weixing Xiong ,  Youjun Xiong

IPC: G06F40/30 ,  G06F16/31 ,  G06F16/35 ,  G06F40/205

Abstract: The present disclosure provides a sentence generation method as well as a sentence generation apparatus and a smart device. The method includes: obtaining an input sentence; searching for structurally similar sentence(s) of each input sentence, where the structurally similar sentence(s) are structurally similar to the input sentence; finding semantically similar sentence(s) of the structurally similar sentence(s); parsing the input sentence and the structurally similar sentence(s) to obtain a subject block, a predicate block, and an object block to rewrite the semantically similar sentences to generate a new sentence; filtering the new sentence based on a preset filtering condition; and labeling the filtered new sentence as a semantically similar sentence of the input sentence. In this manner, a plurality of new sentences with different sentence patterns can be generated based on the same input sentence, which improves the controllability in generating the sentences and saves the labor cost therein.

公开(公告)号：USD911459S1

公开(公告)日：2021-02-23

申请号：US29661705

申请日：2018-08-30

Applicant: UBTECH Robotics Corp

Designer： Youjun Xiong ,  Huaqiang Lu ,  Yiping Li ,  Tao Xu ,  Sixin Li ,  Xinshui Huang ,  Meichun Liu ,  Qidong Xu ,  Youpeng Li ,  Da Li ,  Xue Yang ,  Zheng Xie ,  Qiuhong Shi