Abstract: A servo includes a housing, and a motor, a reduction gear drive mechanism, an output shaft, a position sensor and at least two stages of transmission gear. The reduction gear drive mechanism is connected with motor and the output shalt of the servo, the reduction gear drive mechanism used to transmit power from the motor to the output shaft of the servo. A head stage of the transmission gear is located on a tail end of the output shaft of the servo, and the position sensor is located at an axis of a tail stage of the transmission gear. The at least two stages of transmission gear transmit a rotation angle of the output shaft of the servo to the position sensor by a ratio of 1:1, the position sensor is not arranged coaxially with the output shaft of the servo.

Abstract: The present disclosure provides a face image quality evaluating method as well as an apparatus and a computer-readable storage medium using the same. The method includes: obtaining a face image; determining a local bright area in the face image, wherein the local bright area is formed by an illumination source in the face image, and the brightness of the local bright area is greater than the brightness of a face area in the face image; removing the local bright area from the face image; and evaluating a quality of the face image based on the face image having removed the local bright area. In the above-mentioned manner, the present disclosure improves the accuracy of the quality evaluation of the face image.

Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.

Abstract: A firmware upgrade method for a slave station of a robot communicates with a master station of the robot via an EtherCAT bus of the robot, includes: switching a work mode of the slave station to an upgrade mode in response to a firmware upgrade instruction, receiving a new firmware corresponding to this firmware upgrade via the EtherCAT bus, storing the new firmware in a second storage area of a flash memory of the slave station, restarting the slave station after the new firmware is received, and copying the new firmware stored in the second storage area to a first storage area of the flash memory and executing the new firmware in the first storage area when the slave station is started. A slave station of the robot and a machine readable storage medium are also provided.

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.

Abstract: The present disclosure provides a movement control method for a robot as well as an apparatus and a robot using the same. The method includes: obtaining a starting position and an ending position of the robot, in response to a movement instruction being detected; determining a movement path of the robot based on the starting position and the ending position; obtaining pass qualification information of the robot, if the movement path intersects a line corresponding to a preset virtual wall; and moving the robot to the ending position according to the movement path, if the pass qualification information identifying the robot is allowed to traverse the virtual wall. By obtaining the pass qualification information, the robot can return to the working area from the non-working area in the case of an abnormality, while ensuring that the robot does not actively traverse from the working area to the non-working area.

Abstract: The present disclosure provides a relocalization method including: obtaining submap boundary points; drawing a first submap based on the submap boundary points; extracting a second submap from the first submap; performing a template matching on a known map based on the second submap to obtain first matching results; obtaining second matching result each corresponding to each of the first matching results based on a positional relationship of the second submap in the first submap: matching boundary points in each of the second matching results with the submap boundary points to filter out third matching results from the second matching results; and selecting one of the third matching results as a relocalization result. The present disclosure further provides a robot. In the above-mentioned manner, it is capable of realizing a re localization with high accuracy, high preciseness, and low error rate while there are environmental changes.

Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.

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.

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.

Abstract: A servo includes a motor having a rotating shaft, an output shaft disposed apart from the rotating shaft, a transmission mechanism to transmit mechanical power from the motor to the output shaft, a circuit board, a first detected member fixed to an end of the rotating shaft, a second detected member fixed to an end of the output shaft adjacent to the circuit board; and a first detecting member and a second detecting member mounted on the circuit board and configured to respectively detect rotational angles of the rotating shaft and the output shaft, based on changes caused by rotation of the first detected member and the second detected member.

Abstract: A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.

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.