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公开(公告)号：US11693430B2
公开(公告)日：2023-07-04
申请号：US17114526
申请日：2020-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
IPC: G05D1/02 , G05D1/08 , B62D57/02 , G05B19/4155
CPC classification number: G05D1/0891 , B62D57/02 , G05B19/4155 , G05D1/0212 , G05B2219/40233
Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.
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公开(公告)号：US11631192B2
公开(公告)日：2023-04-18
申请号：US17107860
申请日：2020-11-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.
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公开(公告)号：US11602848B2
公开(公告)日：2023-03-14
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
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.
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公开(公告)号：US11593974B2
公开(公告)日：2023-02-28
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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公开(公告)号：US11550335B2
公开(公告)日：2023-01-10
申请号：US16753408
申请日：2018-11-28
Applicant: UBTECH ROBOTICS CORP.
Inventor： Youjun Xiong , Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang
IPC: B62D57/032 , G05D1/02
Abstract: The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.
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Patent Agency Ranking
公开(公告)号：US20220375106A1
公开(公告)日：2022-11-24
申请号：US17866574
申请日：2022-07-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Zaiwang Gu , Jianxin Pang
Abstract: A method includes: performing target detection on a current image to obtain detection information of a plurality of detected targets; obtaining position prediction information of each of a plurality of tracked targets and a number of times of tracking losses of targets from tracking information of each of the tracked targets, and determining a first matching threshold for each of the tracked targets according to the number of times of tracking losses of targets; calculating a motion matching degree between each of the tracked targets and each of the detected targets according to the position detection information and the position prediction information; for each of the tracked targets, obtaining a motion matching result according to the motion matching degree and the first matching threshold corresponding to the tracked target; and matching the detected targets and the tracked targets according to the motion matching results to obtain a tracking result.
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公开(公告)号：US11416719B2
公开(公告)日：2022-08-16
申请号：US17012016
申请日：2020-09-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Zhichao Liu , Yongsheng Zhao , Yu Tang , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.
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公开(公告)号：US11331806B2
公开(公告)日：2022-05-17
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: G05B19/42 , B25J9/16 , B25J9/04 , B25J9/06 , B25J9/00 , B25J17/02 , B25J13/08 , B25J19/04 , B25J9/12
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.
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公开(公告)号：US11285613B2
公开(公告)日：2022-03-29
申请号：US16699132
申请日：2019-11-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Youjun Xiong , Longbiao Bai , Simin Zhang , Jianxin Pang
Abstract: The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.
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公开(公告)号：US11260529B2
公开(公告)日：2022-03-01
申请号：US16584968
申请日：2019-09-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jian Zhang , Youjun Xiong , Zhichao Liu , Longbiao Bai , Chenchen Jiang , Simin Zhang , Hongjian Liu , Zhanjia Bi , Yongsheng Zhao , Jianxin Pang
Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.
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