Patents Assigned to UBTECH ROBOTICS CORP.
  • Patent number: 11797013
    Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.
    Type: Grant
    Filed: December 25, 2020
    Date of Patent: October 24, 2023
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD
    Inventors: Dejun Guo, Kang-Hao Peng, Dan Shao, Yang Shen, Huan Tan
  • Patent number: 11790174
    Abstract: The present disclosure discloses an entity recognition model training method and an entity recognition method as well as an apparatus using them. The entity recognition model training method includes: obtaining a training text and matching the training text with a database to obtain a plurality of matching results; processing the matching results to obtain a plurality of feature vectors corresponding to the matching results; obtaining a word vector of each word in the training text by processing the training text; and training an initial entity recognition model based on the feature vector and the word vector to obtain an entity recognition model. By using this training manner, the entity recognition model obtained can have an improved accuracy of entity recognition.
    Type: Grant
    Filed: December 27, 2020
    Date of Patent: October 17, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Weixing Xiong, Li Ma, Youjun Xiong
  • Patent number: 11780085
    Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.
    Type: Grant
    Filed: December 1, 2020
    Date of Patent: October 10, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Xiaozhu Ju, Mingguo Zhao, Yuesong Wang, Youjun Xiong
  • Patent number: 11776288
    Abstract: A target object detection model is provided. The target object detection model includes a YOLOv3-Tiny model. Through the target object detection model, low-level information in the YOLOv3-Tiny sub-model can be merged with high-level information therein, so as to fuse the low-level information and the high-level information. Since the low-level information can be further used, the comprehensiveness of target detection is effectively improved, and the detection effect of small targets is improved.
    Type: Grant
    Filed: July 30, 2021
    Date of Patent: October 3, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Yonghui Cai, Jun Cheng, Jianxin Pang, Youjun Xiong
  • Patent number: 11759945
    Abstract: A dual-output-shaft servo includes a housing including two first sensors and two actuating mechanisms. Each actuating mechanism includes a motor assembly, a speed reduction mechanism opposite the motor assembly, and a transmission mechanism arranged between the motor assembly and the speed reduction mechanism. The speed reduction mechanism includes an output component, and a connection shaft is fixed to the output component. A first sensor counterpart is attached to an end of the connection shaft which faces the motor assembly. The transmission mechanism is to transmit mechanical power from the motor assembly to the speed reduction mechanism. The axes of rotation of the output components of the speed reduction mechanisms are skew or intersected with each other.
    Type: Grant
    Filed: December 10, 2021
    Date of Patent: September 19, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Hongyu Ding, Yisen Hu, Jian Li
  • Patent number: 11763796
    Abstract: A computer-implemented method for speech synthesis, a computer device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a speech text to be synthesized; obtaining a Mel spectrum corresponding to the speech text to be synthesized according to the speech text to be synthesized; inputting the Mel spectrum into a complex neural network, and obtaining a complex spectrum corresponding to the speech text to be synthesized, wherein the complex spectrum comprises real component information and imaginary component information; and obtaining a synthetic speech corresponding to the speech text to be synthesized, according to the complex spectrum. The method can efficiently and simply complete speech synthesis.
    Type: Grant
    Filed: December 10, 2020
    Date of Patent: September 19, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Dongyan Huang, Leyuan Sheng, Youjun Xiong
  • Patent number: 11734850
    Abstract: On-floor obstacle detection using an RGB-D camera is disclosed. An obstacle on a floor is detected by receiving an image including depth channel data and RGB channel data through the RGB-D camera, estimating a ground plane corresponding to the floor based on the depth channel data, obtaining a foreground of the image corresponding to the ground plane based on the depth channel data, performing a distribution modeling on the foreground of the image based on the RGB channel data to obtain a 2D location of the obstacle, and transforming the 2D location of the obstacle into a 3D location of the obstacle based on the depth channel data.
    Type: Grant
    Filed: April 26, 2021
    Date of Patent: August 22, 2023
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD
    Inventors: Dan Shao, Dejun Guo, Zhen Xiu, Chuqiao Dong, Huan Tan
  • Patent number: 11727784
    Abstract: A mask wearing status alarming method, a mobile device, and a computer readable storage medium are provided. The method includes: performing a face detection on an image to determine face areas each including a target determined as a face; determining a mask wearing status of the target in each face area; confirming the mask wearing status of the target in each face area using a trained face confirmation model to remove the face areas comprising the target being mistakenly determined as the face and determining a face pose in each of the remaining face areas to remove the face areas with the face pose not meeting a preset condition, in response to determining the mask wearing status as a not-masked-well status or a unmasked status; and releasing an alert corresponding to the mask wearing status of the target in each of the remaining face areas.
    Type: Grant
    Filed: December 31, 2020
    Date of Patent: August 15, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Yusheng Zeng, Yepeng Liu, Jun Cheng, Jianxin Pang, Youjun Xiong
  • Patent number: 11724393
    Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.
    Type: Grant
    Filed: December 30, 2020
    Date of Patent: August 15, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Xiaoyu Ren, Liqun Huang, Yuesong Wang, Youjun Xiong
  • Patent number: 11717958
    Abstract: A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.
    Type: Grant
    Filed: June 11, 2021
    Date of Patent: August 8, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Zhe Xu, Mingguo Zhao, Youjun Xiong
  • Patent number: 11713088
    Abstract: A leg mechanism of a humanoid robot includes: an upper leg, a lower leg rotatably coupled to the upper leg, a knee module actuator mounted to the upper leg, a foot rotatably connected to the lower leg, a knee transmission mechanism connected to the knee module actuator and the lower leg and configured to transmit rotary motion from the knee module actuator to the lower leg, at least one ankle module actuator mounted to the upper leg, at least one ankle transmission mechanism connected to the at least one ankle module actuator and the foot and configured to transmit rotary motion from the at least one ankle module actuator to the foot.
    Type: Grant
    Filed: December 25, 2020
    Date of Patent: August 1, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Liang Huang, Hongyu Ding, Jianxin Pang, Youjun Xiong
  • Patent number: 11708882
    Abstract: A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.
    Type: Grant
    Filed: July 29, 2020
    Date of Patent: July 25, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Liang Huang, Hongyu Ding, Jianxin Pang, Youjun Xiong
  • Patent number: 11710277
    Abstract: A map database creation method is provided. The method includes: obtaining a factor set including factors; dividing a map database into levels based on the factors, and taking each interval of the last level as one sub-database; creating an initial map based on a factor value of each factor corresponding to each sub-database, and creating the sub-database as an initial map database by storing the corresponding initial map in the sub-database; finding the initial map matching a current lighting condition from the initial map database based on the current lighting condition, and taking the found initial map as a positioning map; and performing a visual positioning based on the positioning map, creating an expanded map corresponding to the current lighting condition based on the visual positioning, and creating the sub-database corresponding to the current lighting condition as an expanded map database by storing the corresponding expanded map in the sub-database.
    Type: Grant
    Filed: September 23, 2021
    Date of Patent: July 25, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Mingqiang Huang, Zhichao Liu, Youfang Lai, Yun Zhao
  • Patent number: 11709914
    Abstract: A backlight face recognition method, a terminal device using the same, and a computer readable storage medium are provided. The method includes: performing a face detection on each original face image in an original face image sample set to obtain a face frame corresponding to the original face image; capturing the corresponding original face images from the original face image sample set, and obtaining a new face image containing background pixels corresponding to the captured original face images from the original face image sample set; preprocessing all the obtained new face images to obtain a backlight sample set and a normal lighting sample set; and training a convolutional neural network using the backlight sample set and the normal lighting sample set until the convolutional neural network reaches a preset stopping condition. The trained convolutional neural network will improve the accuracy of face recognition in complex background and strong light.
    Type: Grant
    Filed: October 26, 2021
    Date of Patent: July 25, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Hanliu Wang, Jun Cheng, Jianxin Pang
  • Patent number: 11691284
    Abstract: A robot control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a motion 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; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of a left leg and a right leg of the robot; and controlling the robot to move according to the joint angles.
    Type: Grant
    Filed: December 13, 2020
    Date of Patent: July 4, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Chunyu Chen, Yizhang Liu, Ligang Ge, Zheng Xie, Hongge Wang, Youjun Xiong, Jianxin Pang
  • Patent number: 11693430
    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.
    Type: Grant
    Filed: December 8, 2020
    Date of Patent: July 4, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Jie Bai, Ligang Ge, Yizhang Liu, Hongge Wang, Jianxin Pang, Youjun Xiong
  • Patent number: 11685043
    Abstract: A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.
    Type: Grant
    Filed: June 15, 2020
    Date of Patent: June 27, 2023
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Chengkun Zhang, Liang Huang, Jianbo Li, Jingchen Li, Hongyu Ding, Wenhua Fan, Won Suk You, Raymond Ma, Muhammed Rasid Pac, Huan Tan, Youjun Xiong
  • Patent number: D989145
    Type: Grant
    Filed: November 5, 2021
    Date of Patent: June 13, 2023
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD
    Inventors: Francisco Jose Hernandez, ChengKun Zhang, Huan Tan
  • Patent number: D996304
    Type: Grant
    Filed: November 12, 2021
    Date of Patent: August 22, 2023
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD.
    Inventors: Francisco Jose Hernandez, ChengKun Zhang, Jinxing Wang, Kun Xie, Huan Tan
  • Patent number: D997096
    Type: Grant
    Filed: June 25, 2021
    Date of Patent: August 29, 2023
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD
    Inventors: Zhi Heng Leow, Francisco Jose Hernandez, Chengkun Zhang, Huan Tan