US Pat. No. 10,069,446

BRUSHLESS SERVO

UBTECH ROBOTICS CORP., S...

1. A brushless servo comprising:a direct current (DC) brushless motor comprising an output shaft;
a reduction gearbox comprising a speed reduction mechanism; and
a control circuit board comprising a plurality of layers of printed circuit boards (PCBs) that are spaced apart from each other, and two adjacent PCBs are electrically connected to each other via a flexible circuit board;
wherein the output shaft of the DC brushless motor is connected to the speed reduction mechanism in the reduction gearbox, the DC brushless motor and the control circuit board are arranged side by side at one side of the reduction gearbox, the DC brushless motor and the reduction gearbox are arranged along a height-wise direction of the brushless servo, the DC brushless motor and the control circuit board are arranged along a length-wise direction of the brushless servo, and the plurality of layers of PCBs are arranged along the height-wise direction of the brushless servo; and
wherein a lowermost one of the plurality of layers of PCBs is located adjacent to a top of the reduction gearbox, and at least one of the plurality of layers of PCBs comprises a left end that has a shape matching and contacting a circumferential surface of the DC brushless motor.

US Pat. No. 10,059,393

ANTI-FALLING ROBOTS, ANTI-FALLING METHOD, AND ANTI-FALLING DEVICE OF ROBOTS DURING POWER OUTAGE

UBTECH ROBOTICS CORP., S...

1. An anti-falling method of robots during power outage, comprising:transmitting first controlling signals to a first leg mechanism and a second leg mechanism to control a first leg and a second leg of the robot to be perpendicular to ground upon determining a power outage condition;
transmitting second controlling signals to the first leg mechanism and/or the second leg mechanism to control the first leg and/or the second leg of the robot to move from the perpendicular to ground position, such that a first foot and a second foot of the robot are positioned at two sides of a ground projection point of center of gravity of the robot;
controlling the first leg and/or the second leg to move the center of gravity of the robot close to the ground;
transmitting third controlling signals to the first leg mechanism and/or the second leg mechanism to stop movements of the first leg mechanism and/or the second leg mechanism upon determining a stop condition.

US Pat. No. 9,889,388

TOY BUILDING BLOCK ROBOT AND MAIN CONTROL BOX THEREOF

UBTECH ROBOTICS CORP., S...

1. A main control box for a toy building-block robot, comprising:
a toy building-block robot main control housing;
a toy building-block robot main control board; and
a battery;
wherein the toy building-block robot main control board is installed in the toy building-block robot main control housing,
the battery is connected to the toy building-block robot main control board to supply power to the toy building-block robot
main control board; a plurality of connection mechanisms are disposed on the toy building-block robot main control housing
for engaging the toy building-block robot main control housing with other components of the toy building block robot;

wherein the connection mechanisms comprise at least one of:
a plurality of connecting portions disposed on an outer surface of the toy building-block robot main control housing, each
of the connecting portions comprises a connection pillar and a connection plate, the connection plate is installed on the
outer surface of the toy building-block robot main control housing through the connection pillar; the connection plate is
configured to engage into a butting slot on a building block of the toy building block robot, so as to couple the main control
box with the building block, or configured to engage into a butting slot on a servo of the toy building block robot, so as
to couple the main control box with the servo; the connection pillar has one or more limit grooves or one or more limit protrudes
formed thereon, for matching with one or more limit protrudes or one or more limit grooves formed on the butting slot;

a plurality of connection pin holes disposed on the toy building-block robot main control housing for engaging with the component
of the toy building block robot through a bearing pin; and

a slot disposed on an outer surface of the toy building-block robot main control housing for engaging with the battery, wherein
the toy building-block robot main control board further comprises power terminals, and the battery comprises electrodes, the
power terminals on the toy building-block robot main control board are exposed within the slot; the battery is inserted into
the slot, the electrodes on the battery are coupled with the power terminals on the toy building-block robot main control
board.

US Pat. No. 10,085,356

ELECTRONIC DEVICE WITH LOCKING ASSEMBLY

UBTECH ROBOTICS CORP., S...

1. An electronic device comprising:a support defining a slot;
a casing defining a receiving hole, at least one dent being defined in a bottom of the receiving hole;
a locking assembly configured to detachably connect the casing to the support, the locking assembly comprising a connection member received in the receiving hole and a locking member connected to and rotatable together with the connection member, the locking member being rotatable to a position where the locking member engages the slot, thereby fixing the casing to the support; and
a connection ring that is connected to and rotatable together with the connection member, the connection ring comprises at least one protrusion, the at least one protrusion is configured to be received in the at least one dent so as to enable the locking member to maintain the engagement with the slot;
wherein the connection member comprises a main body received in the receiving hole and a head connected to a first end of the main body, and the locking member is connected to a second end of the main body that is opposite to the first end;
wherein the locking member defiles a through hole and is connected to the connection member by a screw passing through the through hole.

US Pat. No. 10,084,362

SERVOMOTOR AND CONTROL METHOD THEREOF

UBTECH ROBOTICS CORP., S...

1. A servomotor comprising:a control circuit, an electric motor, a drive and a sensor;
the control circuit being electrically connected to the electric motor, and configured to output signals to control the electric motor to rotate;
the drive comprising an outer casing, a wave generator, a flexspline and a circular spline that are arranged within the outer casing, the electric motor being arranged at one end of the outer casing, the wave generator being driven by the electric motor, the flexspline being sleeved on an exterior of the wave generator, the circular spline being fixed within the outer casing, the flexspline being located within the circular spline and engaging with the circular spline;
the flexspline being connected with an output member that is configured to output power, and a post arranged along a rotation axis of the output member and fixed to the output member; and
the sensor being arranged within the outer casing and configured to detect angular displacement of the post;
wherein the drive further comprises a flexspline pressing member and a bearing inner ring, the flexspline pressing member comprises a position limiting portion and a protruding portion, the flexspline defines a first through hole in a bottom thereof, the bearing inner ring defines a second through hole, the protruding portion of the flexspline pressing member passes through the first through hole and the second through hole in sequence, and the flexspline is arranged between the position limiting portion of the flexspline pressing member and the bearing inner ring.

US Pat. No. 10,029,187

TOY ASSEMBLING APPARATUS

UBTECH ROBOTICS CORP., S...

1. A toy assembling apparatus, comprising at least one connector, and each connector comprising at least one of a first connecting portion and a second connecting portion;wherein the first connecting portion comprises a connection plate and a connection pillar disposed on the connection plate; and
wherein the second connecting portion comprises a left side board, a right side board, a bottom board, and a top board, the left side board, the right side board, the bottom board, and the top board jointly form a containing slot for inserting the first connecting portion therein along a first direction, the containing slot comprises a plate slot for containing the connection plate and a pillar slot for containing the connection pillar; and
wherein the connection pillar has one or more limit grooves or one or more limit protrudes formed thereon, the pillar slot has one or more protrudes or one or more limit grooves formed thereon correspondingly and extending in a second direction substantially perpendicular to the first direction;
wherein, when the first connecting portion of one connector is inserted into the second connecting portion of another connector, the connection plate of the connector is engaged in the plate slot of the another connector and the connection pillar of the connector is engaged in the pillar slot of the another connector so as to assemble these two connectors together, and the one or more limit grooves of one of these two connectors is engaged with the one or more limit protrudes of the other of these two connectors so as to limit their relative position along the first direction.

US Pat. No. 10,031,514

METHOD FOR SERVO LOCKING CONTROL AND SERVO

UBTECH ROBOTICS CORP., S...

1. A method for locking control of a servo, the method comprising:controlling the servo to enter a first lock state in response to an output axis of the servo being in a target locking position, wherein in the first lock state a main control circuit of the servo controls the output axis of the servo to remain in the target locking position;
determining whether current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value, wherein each current angular deflection value is an absolute value of difference between a current angular value and a latest target locking position value of the servo;
controlling the servo to enter a second lock state from the first lock state, in response to the current angular deflection values of the servo in the first preset period being all greater than the preset angular deflection value, wherein in the second lock state the target locking position is changed with the current angular values;
determining whether current angular changing values of the servo in a second preset period are all less than a preset angular changing value; and
controlling the servo to enter the first lock state from the second lock state, in response to the current angular changing values of the servo in the second preset period being all less than the preset angular changing value.

US Pat. No. 10,031,506

MOTION CONTROL METHOD, MOTION CONTROL DEVICE, AND MOTION TRAJECTORY PLANNING METHOD

UBTECH ROBOTICS CORP., S...

1. A motion control method, comprising:(a) obtaining a current position of a control object at a current time using sensors, and obtaining a current velocity of the control object;
(b) obtaining a current acceleration based on the current position and the current velocity through the formula a(t)=K2(s0?s(t))?2Kv(t), wherein t is the current time, K is the accommodation coefficient, s0 is the target position, s(t) is the position at the current time, v(t) is the velocity at the current time;
(c) responsive to controlling a motor for driving the control object utilizing the current acceleration; and
(d) iteratively performing the steps (a)-(c) until the control object reaches the target position.

US Pat. No. 10,031,726

FLOWCHART GENERATING METHOD AND FLOWCHART GENERATING APPARATUS BASED ON QT 2D GRAPHIC VIEW

UBTECH ROBOTICS CORP., S...

1. A flowchart generating method based on QT 2D graphic view, comprising:designing a main process and a sub-module of a flowchart; wherein the main process comprises a main process start, a sub-module port, and a main process end;
wherein the sub-module comprises a sub-module node, and the sub-module node comprises a sub-module entry node, a sub-module exit node, and a sub-module interrupted node configured to connect to other modules and stop running the other modules;
establishing a connection relationship between the sub-module and the sub-module port to embed and call the sub-module in the main process.

US Pat. No. 10,166,681

BLUETOOTH SPEAKER AND ROBOT INTERACTION SYSTEM

UBTECH ROBOTICS CORP., S...

1. A Bluetooth speaker for a robot, comprising:an interface unit;
a processor;
a Bluetooth unit configured to receive and transmit audio signals; and
a speaker configured to play the audio signals;
wherein one end of the interface unit is configured to connect to a main controller of the robot, and another end of the interface unit is configured to connect to the processor; the processor further connects to the Bluetooth unit; and the Bluetooth unit connects to the speaker; the interface unit comprises cascade connected a first interface and a second interface connecting to a first device and a next device respectively; the first interface is configured to turn on the first device; the second interface is configured to turn on the next device, after the first device is turned on and the first device is assigned with an identification number;
wherein the Bluetooth speaker for the robot further comprises a switch, wherein one end of the switch connects to the interface unit, and another end of the switch connects to the processor;
wherein the switch comprises a switch module having a first data interface, a second data interface, a first output port, a second output port, a first enable port, and a second enable port;
wherein the first data interface and the second data interface connect to the first interface and the second interface respectively; the first output port and the second output port connect to the processor; the first enable port and the second enable port connect to the processor; the processor turns on the first data interface and the first output port or turns on the second data interface and the second output port according to a voltage of the first data interface and the second data interface; and
wherein the first interface is configured to connect to the switch via a resistance by a wire, and the second interface is configured to connect to the processor via a resistance by a wire.

US Pat. No. 10,081,111

ROBOTIC HAND

UBTECH ROBOTICS CORP., S...

1. A robotic hand comprising a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing, wherein the motor is electrically connected to the PCB, an input end of the planetary gear transmission assembly is connected to an output shaft of the motor, an output end of the planetary gear transmission assembly comprises a cam, the cam comprises a plurality of protruding portions in a circumferential direction thereof and each two adjacent protruding portions are spaced apart from each other by a space, thereby forming a curved circumferential surface, and one end of each of the claws stays in contact with the curved circumferential surface, enabling the claws to be rotatable toward or away from one another when driven by the cam;wherein the cam and the claws are configured such that each claw is rotatable around an axis that is perpendicular to an axis around which the cam rotates;
wherein the output end of the planetary gear transmission assembly comprises a rotation shaft, the cam defines a through hole that allows the rotation shaft to be partly received therein, the through hole is shaped and sized to match the rotation shaft in such a way that the cam is rotatable together with the rotation shaft;
wherein the planetary gear transmission assembly includes an upper cover, a lower cover and a planetary gear transmission mechanism of at least two stages arranged between the upper cover and the lower cover, the planetary gear transmission mechanism comprises an input end connected to the output shaft of the motor and an output end connected to the rotation shaft, and the lower cover comprises a plurality of urging assemblies that are configured to apply a force to the claws to cause the claws to stay in contact with the curved circumferential surface.

US Pat. No. 9,815,192

SERVO AND ROBOT WITH SERVO

UBTECH ROBOTICS CORP., S...

1. A servo, comprising:
a power input apparatus providing rotational power;
a deceleration apparatus driven to operate by the power input apparatus; and
a power output mechanism driven to rotate by the deceleration apparatus;
wherein the power input apparatus comprises a first output shaft; the deceleration apparatus comprises a first-stage deceleration
mechanism partly installed on the first output shaft and used to change a power output direction, and a second-stage deceleration
mechanism connected between the first-stage deceleration mechanism and the power output mechanism; the power output mechanism
comprises a second output shaft driven to rotate by an output terminal of the second-stage deceleration mechanism and connected
with an exterior component, and an output bearing fixedly installed on the second output shaft, wherein the second output
shaft is an external spline output shaft;

the first-stage deceleration mechanism comprises a power gear installed on the first output shaft and rotating along with
the first output shaft as well as a face gear engaged with the power gear, the rotation direction of the face gear is perpendicular
to the rotation direction of the power gear; and

the second-stage deceleration mechanism comprises a second-stage pinion rotating coaxially with the face gear, a middle gear
set engaged with the second-stage pinion and driven to rotate by the second-stage pinion, a planetary gear set engaged with
the middle gear set, a fixing gear engaged with the planetary gear set to prevent the planetary gear set from idling, the
second-stage pinion and the planetary gear set each are locked on a fixing shaft on the power output mechanism.

US Pat. No. 10,011,027

LEG STRUCTURE AND HUMANOID ROBOT

UBTECH ROBOTICS CORP., S...

1. A leg structure for connecting a waist structure and two foot structures of a humanoid robot, the leg structure comprising:a pair of first-stage leg servos connected to the waist structure, each of the first-stage leg servos comprising a first output shaft;
second-stage leg servos corresponding to and arranged opposite to the first-stage leg servos, the second-stage leg servos comprising second output shafts perpendicular to the first output shaft;
a pair of connecting assemblies each configured for mounting one of the first-stage leg servos and one of the second-stage leg servos, the connecting assemblies each comprising a connecting member for mounting one end of the first output shaft and one end of the second output shaft, a first end cover securely connected to the connecting member and configured for mounting the other end of the first output shaft, and a second end cover securely connected to the connecting member and configured for mounting the other end of the second output shaft.

US Pat. No. 9,979,862

BUFFERING METHOD FOR VIDEO PLAYING, STORAGE MEDIUM AND DEVICE

UBTECH ROBOTICS CORP., S...

1. A buffering method for video playing, comprising:playing a video according to an amount of video buffer data and a predefined playing threshold, and monitoring a network speed of a stream of the video;
determining whether the network speed meets a predefined condition; and
responsive to the network speed meeting the predefined condition, updating a previously set video buffer depth and the playing threshold according to the network speed;
wherein the step of determining whether the network speed meets a predefined condition, comprises:
determining whether a stuttering in the video stream occurs when receiving video data during buffering video; or
determining whether a stuttering in the video stream occurs when reading video data during playing of the video; and
wherein the step of updating a previously set video buffer depth and the playing threshold according to the network speed comprises:
if a stuttering in the video stream occurs when receiving video data during buffering video or when reading video data during playing of the video, calculating an updated buffer depth and an updated playing threshold based on a duration during which fixed-length video data is played, a duration during which the fixed-length video data is buffered, a duration of a previous stuttering, a duration of a current stuttering, an initial buffer depth and an initial playing threshold, and replacing the initial buffer depth and the initial playing threshold with the updated buffer depth and the updated playing threshold, respectively.

US Pat. No. 10,022,874

ROBOTIC HAND

UBTECH Robotics Corp., S...

1. A robotic hand comprising a servo housing, a plastic circuit board (PCB), a motor, a planetary gear transmission assembly and a movable plate that are mounted within the servo housing, and a plurality of claws rotatably connected to the servo housing, wherein the motor is electrically connected to the PCB, the planetary gear transmission assembly is connected to an output shaft of the motor, the movable plate is connected to the planetary gear transmission assembly and movable when driven by the planetary gear transmission assembly, one end of each of the claws is pivotally connected to the movable plate and the claws are rotatable toward or away from one another when driven by the movable plate;wherein the planetary gear transmission assembly comprises an output end that comprises a threaded shank, and the movable plate defines a threaded hole that is engaged with the threaded shank.

US Pat. No. 9,857,036

ROBOT SERVO CAPABLE OF EMITTING LIGHT

UBTECH ROBOTICS CORP., S...

1. A servo comprising:
a servo casing;
a servo cover connected to the servo casing, the servo cover and the servo casing defining a receiving space;
a circuit board received in the receiving space;
a light emitting member arranged on the circuit board and electrically coupled to the circuit board, the light emitting member
being configured to emit light according to signals indicative of a motion state from the circuit board; and

a light guide comprising a light incident surface that is located adjacent to the light emitting member, and a light exit
surface that is exposed to an external surface of the servo cover.

US Pat. No. 9,964,295

BUILDING BLOCK LIGHT MODULE

UBTECH ROBOTICS CORP., S...

1. A building block light module comprising:an upper portion defining a receiving chamber with two opposite open ends;
a shield attached to one of the open ends, and comprising a plurality of light transmissive surfaces;
a circuit board comprising a plurality of light sources corresponding to the light transmissive surfaces; and
a lower portion defining a plurality of connection elements for mating with building blocks, and the lower portion and the shield being respectively mounted at the open ends of the receiving chamber.

US Pat. No. 9,998,063

MASTER CONTROLLER, SERVO ACTUATOR AND SERVO CONTROLLING SYSTEM

UBTECH ROBOTICS CORP., S...

1. A servo actuator, comprising:a common node;
a servo microcontroller (MCU) electrically coupled to the common node;
a first servo switch;
a second servo switch;
a first interface electrically coupled to the common node via the first servo switch;
a second interface electrically coupled to the common node via the second servo switch;
wherein the servo MCU is electrically coupled to both the first servo switch and the second servo switch and controls switching of the first servo switch and the second servo switch; and
wherein in response to the first interface receiving an electronic signal from a master controller, the servo MCU switches on at least the first servo switch, such that the first interface acts as an input interface of the servo actuator and the second interface acts as an output interface of the servo actuator.

US Pat. No. 9,892,312

FACE DETECTING AND TRACKING METHOD AND DEVICE AND METHOD AND SYSTEM FOR CONTROLLING ROTATION OF ROBOT HEAD

UBTECH ROBOTICS CORP., S...

1. A face detecting and tracking method comprising:
acquiring an image and performing a depth detection for the image to obtain a depth value of each pixel of the image;
determining one or more face candidate areas with a center located at a position of the pixel corresponding thereto, based
on depth value of each pixel of the image of current frame;

performing a face detection to the one or more face candidate areas to determine one or more face boxes of the image of current
frame; and

determining a tracking box of the image of current frame based on the one or more face boxes and a tracked face box, and tracking
the face in the tracking box of the image of current frame,

wherein the step of determining one or more face candidate areas based on depth value of each pixel of the image of current
frame, comprises:

determining a detection window corresponding to each pixel of the image of current frame according to depth value of each
pixel of the image of current frame;

determining one or more neighboring windows neighboring each of the detection windows;
determining if one of the detection windows and the one or more neighboring windows corresponding thereto satisfy a mask condition
of the one or more face candidate areas; and

if yes, the one of the detection windows is one of the one or more face candidate areas;
wherein the step of determining a detection window corresponding to each pixel of the image of current frame according to
depth value of each pixel of the image of current frame, comprises:

determining a face width corresponding to each pixel of the image of current frame according to depth value of each pixel
of the image of current frame; and

creating a square detection box as the detection window for each pixel of the image of current frame, wherein each square
detection box has a center located at a position of the pixel corresponding thereto, and a length equaling to the face width
corresponding to the pixel that corresponds to the square detection box;

wherein the step of determining one or more neighboring windows neighboring each of the detection windows, comprises:
determining at least one of a left window, a right window and an upper window that surround each of the detection windows
at a left side, a right side and an upper side of each of the detection windows, and each of the detection windows and the
at least one of the left window, the right window and the upper window are spaced apart from each other by a first predetermined
width;

wherein the mask condition comprises: an absolute difference between an average depth value of the one of the detection windows
and the depth value of the pixel corresponding to the one of the detection windows is less than a first threshold, and an
absolute difference between average depth value of each of the one or more neighboring windows and the depth value of the
pixel corresponding to the one of the detection windows is less than a second threshold, and the first threshold is less than
the second threshold.

US Pat. No. 10,209,093

SERVO GEAR IDLE POSITION MEASURING DEVICE AND METHOD

UBTECH ROBOTICS CORP., S...

1. A servo gear idle position measuring method, comprising:outputting a start-up fixed force of a first rotation direction to an output shaft of a servo under test, and recording a value of a start-up position of the output shaft of the servo under test when a position of a rotor of the servo under test changes for the first time;
outputting a counterrotation force of a second rotation direction contrary to the first rotation direction for rotating the output shaft of the servo under test to the output shaft of the servo under test, and recording a value of an counterrotation position of the output shaft of the servo under test when the rotor of the servo under test is in a stop status after a predetermined interval; and
calculating a value of a servo gear idle position in a current measuring point, wherein the value of the idle position is the absolute value of the difference between the value of the start-up position and the value of the counterrotation position.

US Pat. No. 10,143,933

ROBOT

UBTECH ROBOTICS CORP., S...

8. A robot comprising:a body comprising a torso and an arm rotatably connected to the torso, the arm comprising a hand;
a fake gun magnetically and detachably connected to the body, wherein the arm and the fake gun are configured in such a way that the fake gun connected to the body is magnetically and detachably connected to the hand when the arm is rotated to a predetermined position, and the hand drives the fake gun to become disengaged from the body and move together with the hand;
wherein the fake gun comprises a barrel, a grip and two connection members that are respectively attractable to the body and the hand, the barrel comprises a main body, a first decoration plate and a second decoration plate, the first decoration plate and the second decoration plate are arranged at opposite sides of the main body, and one of the connection members is arranged at the first decoration plate; the grip comprises a main part, a first decoration panel and a second decoration panel, the first decoration panel and the second decoration panel are arranged at opposite sides of the main part, and the other one of the connection members is arranged at the second decoration panel; the main part of the grip is connected to or integrally formed with one end of the main body of the barrel.

US Pat. No. 10,211,768

CONTROL METHOD AND CONTROL DEVICE OF DIRECT CURRENT MACHINE

UBTECH ROBOTICS CORP., S...

6. A control device of direct current (DC) machine, comprising:a target module configured to obtain a target speed n;
a speed detection module configured to detect a current speed nk;
a first calculation module configured to calculate a current rotating speed difference ek, wherein ek=n?nk;
a second calculation module configured to calculate a speed base voltage W according to the current speed nk, wherein the speed base voltage W is proportional to the current speed nk;
a third calculation module configured to calculate a PID adjustment voltage V according to the current rotating speed difference ek, wherein the PID adjustment voltage is nonlinearly proportional to the current speed nk;
a fourth calculation module configured to calculate an output voltage U according to the PID adjustment voltage V and the speed base voltage W; and
a driving module configured to drive the DC machine according to the output voltage U;
wherein the driving module further comprises:
a duty-cycle calculation unit is configured to calculate a voltage duty-cycle ratio according to the output voltage U; and
a control unit is configured to drive the DC machine according to the voltage duty-cycle ratio and a control logic of the DC machine by means of a power device;
wherein the speed base voltage W is calculated by an equation below according to the current speed nk:
W=Cr×?×nk;
wherein Cr represents the coefficient of electromotive force, and ? represents the motor flux.

US Pat. No. 9,931,577

SERVO OF ENTERTAINMENT ROBOT

UBTECH ROBOTICS CORP., S...

1. A servo of an entertainment robot comprising:a servo main body comprising a casing and an output shaft, the casing being a hexahedron; and
a servo plate fixed to the output shaft of the servo main body and comprising a square drive plate;
wherein at least one surface of the casing comprises a T slot having an opening at one end, and the size of the T slot matches the size of the drive plate of the servo plate;
wherein the T slot comprises two elastic positioning protrusions, the elastic positioning protrusions are opposite and disposed at an inner side of a narrow slot of the T slot and adjacent to a closed end of the T slot; the servo plate comprises a mounting hub connected to the drive plate, the mounting hub comprises four positioning grooves, the four positioning grooves are disposed at symmetrical perpendicular axes of the drive plate, when the servo plate is inserted into a T slot of another servo, elastic positioning protrusions of the T slot of the another servo are fit into two opposite positioning grooves of the mounting hub.

US Pat. No. 10,211,766

MULTI-TURN ANGLE CONTROLLING METHOD BASED ON AN ABSOLUTE POSITION ENCODER AND DEVICE

UBTECH ROBOTICS CORP., S...

1. A multi-turn angle controlling method based on an absolute position encoder electronically connected to a motor, comprising:obtaining a starting position and a target position of the motor by the absolute position encoder;
obtaining a target angle according to the starting position and the target position, and obtaining number of times N that the target angle passes a predetermined position;
determining whether an absolute value of the target angle being greater than 360 degrees;
turning the motor under control of the absolute position encoder such that the motor operates in a first operation mode if the absolute value of the target angle is greater than 360 degrees, wherein the first operation mode turns the motor at an upper-limited speed;
M is a positive integer and an initial value of M is zero, and incrementing M by one when the operation angle passes the predetermined position until M equals to N;
turning the motor under control of the absolute position encoder such that the motor operates in a second operation mode when M equals to N, wherein N is a positive integer greater than 1, wherein the second operation mode dynamically adjusts an operation speed of the motor according to a difference between the target position and the starting position.

US Pat. No. 10,307,914

ROBOT WITH ROTARY STRUCTURE

UBTECH Robotics Corp., S...

1. A robot, comprising:a robot head portion, wherein the robot head portion comprises a housing defining an internal space and a fixing frame disposed in the internal space, and at least one set of connection assemblies are disposed between the housing and the fixing frame; wherein each of the connection assemblies comprises a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, and the flange is fixedly connected to the housing;
a shoulder portion; and
a rotary structure, wherein the rotary structure comprises an adapter rotatably connecting the fixing shaft about an axis of the fixing shaft and a drive source rotating the adapter, wherein the adapter comprises an installation disc portion for connecting the shoulder portion, a drive portion for connecting the drive source, and a holding portion connected between the installation disc portion and the drive portion;
wherein, the fixing shaft defines a first shaft hole for accommodating the drive portion, the drive source is disposed on the fixing frame and supported by the fixing frame, the drive portion and the fixing shaft are disposed coaxially.

US Pat. No. 10,279,472

SERVO CONTROL SYSTEM AND ROBOT

UBTECH Robotics Corp., S...

1. A servo control system, applied to a servo, characterized in that the servo control system comprises:a main control module, comprising two enabling terminals; and
a communication module, comprising a first communication interface, a second communication interface and a control switch unit, the control switch unit comprising a first communication terminal, a second communication terminal, a first enabling port, and a second enabling port, the first communication terminal and the second communication terminal being correspondingly coupled to the first communication interface and the second communication interface, and the first enabling port and the second enabling port being correspondingly coupled to the two enabling terminals of the main control module; wherein:
the main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level coupled to the servo, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level coupled to the servo.

US Pat. No. 10,317,874

CRITICAL POINT LOCKING METHODS OF SERVOS AND DEVICES THEREOF

UBTECH Robotics Corp., S...

1. A critical point locking method for a servo comprising a processor and a magnetic encoder electronically connected to the processor, the method comprising:obtaining, by the magnetic encoder, an actual position of the servo, and feeding back the actual position to the processor;
computing, by the processor, a difference between a target position and the actual position to obtain a current target deviation;
computing, by the processor, a variation value according to the current target deviation and a previous target deviation;
determining, by the processor, whether the variation value is greater than a constraint value;
modifying, by the processor, the current target deviation according to the current target deviation and a predetermined value in response to the variation value being greater than the constraint value;
setting, by the processor, the modified current target deviation as a current controlling deviation; and
moving, by the processor, the servo toward the target position, and controlling the servo to lock an angle at the target position according to the current controlling deviation;
wherein the step of modifying, by the processor, the current target deviation according to the current target deviation and the predetermined value further comprises:
setting the current controlling deviation by summing up the current target deviation and a maximum position coding value, in response to the current target deviation being less than the predetermined value;
setting the current controlling deviation as the current target deviation minus the maximum position coding value, in response to the current target deviation being greater than the predetermined value; and
setting the current controlling deviation to be the previous target deviation, in response to the current target deviation being equal to the predetermined value.

US Pat. No. 10,279,487

FOOT STRUCTURE AND HUMANOID ROBOT

UBTECH Robotics Corp., S...

1. A foot structure for contacting the ground and connecting to a leg structure of a humanoid robot, comprising:a foot assembly for contacting the ground;
a first servo mounted on the foot assembly and comprising a first output shaft;
a connecting assembly rotatably connected to the foot assembly and configured to constitute an ankle portion; and
a second servo mounted on the connecting assembly and configured to connect with the leg structure, the second servo comprising a second output shaft perpendicular to the first output shaft;
the connecting assembly being arranged perpendicularly to the foot assembly and comprising a first connecting structure configured to mount the first output shaft and rotatably connected to the foot assembly, and a second connecting structure connected to the first connecting structure and configured to mount the second output shaft;
wherein the foot assembly comprises a bottom plate, a fixing portion and a mounting portion that protrude toward the leg structure, and a mounting block fixed to the bottom plate and opposite to the mounting portion, the first servo is fixed to the fixing portion, the first output shaft is mounted to the first connecting structure, and opposite ends of the first output shaft are connected to the mounting portion and the mounting block.

US Pat. No. 10,327,053

BLUETOOTH SPEAKER

UBTECH ROBOTICS CORP., S...

1. A speaker comprising:an upper case and a lower case, the upper case and the lower case corporately defining a receiving space, and the upper case and the lower case each comprising a mounting portion for connecting with a building block element;
a circuit board, a loudspeaker, a wireless module and a light emitting module that are received in the receiving space, and the loudspeaker, the wireless module and the light emitting module are electrically connected to the circuit boarding; and
a light guide configured to guide the light emitted from the light emitting module to an outside of the speaker;
wherein the light guide comprises a first guiding portion and a second guiding portion connected to the first guiding portion, and the first guiding portion defines a recess, and side walls of the recess are slant, the side walls of the recess extend from one end of the first guiding portion to an inner sidewall of the second guiding portion, the second guiding portion is received in a through hole of the lower case so as to be exposed to an outside of the lower case.

US Pat. No. 10,245,945

DRIVING DEVICE AND WHEELED ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP., S...

1. A driving device of a robot comprising at least one driving assembly and a fixing assembly that are arranged outside a base of the robot, wherein the at least one driving assembly comprises a motor, an omnidirectional wheel, a connection shaft configured to connect an output shaft of the motor to the omnidirectional wheel, and a connection assembly configured to connect the connection shaft to the motor and the omnidirectional wheel, the motor, the connection shaft and the omnidirectional wheel are arranged along a radial direction of the base, and the fixing assembly is configured to fix the motor to the base of the robot, wherein a lateral surface of the output shaft of the motor comprises a first external planar surface that defines a positioning hole, a hub of the omnidirectional wheel defines a mounting hole having an inner side surface that comprises a first inner planar surface, the connection shaft comprises a first end and a second end, the first end defines a receiving hole that allows the output shaft to be inserted thereinto and has an inner surface comprising a second inner planar surface, the second inner planar surface comprises a protrusion matching the positioning hole, and the second end has a lateral surface comprising a second external planar surface matching the first inner planar surface.

US Pat. No. 10,183,403

ROBOT HEAD ROTATING STRUCTURE

UBTECH ROBOTICS CORP., S...

1. A robot head rotating structure, comprising:a robot head comprising a housing defining an internal space;
a fixing frame disposed in the internal space;
at least one connection assembly disposed between the housing and the fixing frame; and
a rotary driving apparatus disposed in the internal space;
wherein the connection assembly comprises a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, the flange is fixedly connected to the housing, and the rotary driving apparatus is utilized to rotate the flange around the fixing shaft, and
wherein the housing is spherical in share and comprises a front case and a rear cover, the front case and the rear cover enclose to form the internal space, and the front case is locked with the rear cover through the flange.

US Pat. No. 10,265,846

SERVO

UBTECH Robotics Corp., S...

1. A servo comprising:a housing comprising a gear shaft supporting and positioning structure therein;
an electric motor arranged within the housing;
a speed reduction gear set;
an output gear shaft comprising a front end protruding out of the housing and a rear end located within the housing;
an angle detection device; and
a control circuit board;wherein the electric motor is engaged with the output gear shaft through the speed reduction gear set, the rear end of the output gear shaft is connected to the angle detection device, the control circuit board is connected to the electric motor and the angle detection device, and the angle detection device comprises a magnetic sensor arranged on the control circuit board and a magnet that is connected to the rear end of the output gear shaft and located right in front of the magnetic sensor.

US Pat. No. 10,232,507

WAIST STRUCTURE AND HUMANOID ROBOT

UBTECH ROBOTICS CORP., S...

1. A waist structure for connecting a trunk structure to leg structures of a humanoid robot, the waist structure comprising:a support assembly located between the trunk structure and the leg structures;
a waist servo mounted on the support assembly and a pair of first-stage leg servos; and
a transmission connected between the waist servo and the first-stage leg servos to enable the waist servo to drive the first-stage leg servos to rotate, the waist servo being configured to connect the trunk structure to the support assembly, and the first-stage leg servos being configured to connect the support assembly to the leg structures;
wherein the waist servo comprises an output shaft connected to the transmission; each of the first-stage leg servos comprises a connecting end; the transmission comprises a first connecting member and a second connecting member securely mounted on the connecting ends, a first transmission member mounted on the output shaft and connected to the first connecting member, and a second transmission member driven by the first transmission member to rotate and connected to the second connecting member.

US Pat. No. 10,313,150

DATA TRANSMISSION METHOD AND DEVICE FOR ROBOT USING BUFFER

UBTECH Robotics Corp., S...

1. A data transmission method for robot, comprising:transmitting, by a main controller, an attribute reporting request to at least one node via an attribute request frame, wherein the attribute request frame is an extended data frame and the attribute reporting request carries a length of a buffer configured to store attribute data, and the attribute data is in form of block data;
determining, by the node, whether a length of attribute data to be reported is greater than the length of the buffer, transmitting a first attribute reporting response to the main controller in response to the length of the attribute data to be reported being greater than the length of the buffer, and transmitting the attribute data in response to the length of the attribute data to be reported being not greater than the length of the buffer, wherein the first attribute reporting response carries the length of the attribute data to be reported; and
receiving, by the main controller, the first attribute reporting response transmitted from the node, updating the length of the buffer according to the first attribute reporting response, and returning step of transmitting the attribute reporting request to the at least one node via the attribute request frame.

US Pat. No. 10,345,819

RECHARGING ROBOT SYSTEM

UBTECH ROBOTICS CORP., S...

1. A recharging robot system, comprising:a robot;
a recharging dock, comprising:
a signal emission device comprising:
a first signal emission channel and a second signal emission channel, wherein the first signal emission channel comprises a first opening and the second signal emission channel comprises a second opening;
at least one first signal emitter arranged within the first signal emission channel and at least one second signal emitter arranged within the second signal emission channel;
wherein a distance between a center point of the first opening and the center point of the second opening is greater than a distance between a center point of the first signal emitter and a center point of the second signal emitter;
wherein the first signal emitter is configured to emit first signals outward through the first opening, such that shape of the first opening confines the first signals into a first arc sector, and wherein the second signal emitter is configured to emit second signals outward through the second opening, such that shape of the second opening confines the second signals into a second arc sector;
wherein a moving direction of the robot is adjusted towards the recharging dock according to which of the first signals in the first arc sector, the second signals in the second arc sector, and both the first and second signals in an overlapping area of the first arc sector and the second arc sector that the robot senses.

US Pat. No. 10,397,895

RANGE FINDING BASE STATION SELECTION METHOD AND APPARATUS

UBTECH Robotics Corp, Sh...

1. A computer-implemented range finding base station selection method for a wireless positioning system, wherein the wireless positioning system comprises a server, a plurality of base stations, and one or more tags communicating with each other in a wireless manner, the method comprising executing on a processor of the server in the wireless positioning system the steps of:obtaining a first base station group, wherein the first base station group comprises a plurality of base stations have been successfully finding range with respect to a pending tag;
determining whether a first distance between every two base stations in the first base station group being less than a first preset value, and discarding any one of the two base stations in the first base station group having the first distance less than the first preset value to obtain a second base station group;
determining whether horizontal projections of every three base stations in the second base station group are in a straight line, in response to an amount of the base stations in the second base station group being not less than a first preset base station amount, and discarding any one of the three base stations in the second base station group having the horizontal projections in the straight line to obtain a third base station group;
obtaining a second distance of each base station in the third base station group to the pending tag, in response to an amount of the base stations in the third base station group being not less than the first preset base station amount, and discarding any one of the base stations in the third base station group having an absolute value of a difference between the second distance and a pie-stored third distance exceeding a first preset range to obtain a fourth base station group wherein the pre-stored third distance is a distance of the base station to the pending tag in a previous frame;
obtaining a predicted distance of each base station in the fourth base station group to a predicted coordinate of the pending tag in a current frame based on the predicted coordinate and obtaining a real distance of each base station in the fourth base station group to a real coordinate of the pending tag in the current frame based on the real coordinate, in response to an amount of the base stations in the fourth base station group being not less than the first preset base station amount;
discarding any one of the base stations in the fourth base station group having an absolute value of a difference between the predicted distance and the real distance being exceeding a second preset range to obtain a fifth base station group; and
determining the base stations in the fifth base station group as range finding base stations for positioning the pending tag, in response to an amount of the base stations in the fifth base station group being equal to the first preset base station amount.

US Pat. No. 10,389,812

DATA TRANSMISSION METHOD AND DEVICE, DISTRIBUTED STORAGE SYSTEM

UBTECH Robotics Corp., S...

1. A data transmission method for a distributed storage system comprising a data storage server cluster having at least two data storage servers, a data transmission device, and a terminal device communicating via a computerized network, the method comprising:determining, by the data transmission device, a target data storage server in the data storage server cluster according to a preset load balancing manner of the data storage server cluster, the data storage server cluster dynamically adding data storage servers to expand storage capability of the data storage server cluster;
assigning, by the data transmission device via the computerized network, data unloaded by the terminal device and property information of the data to store in a primary target data storage server of one of the data storage servers and a second target data storage server of another of the data storage servers according to weight ratios of the primary tar et data storage server and the second target data storage server;
sending, by the target data storage server via the computerized network, path information of the data to the terminal device, wherein the path information comprises an identification of the target data storage server, and a storage position of the data; and
relating, by the target data storage server, the path information to the property information of the data such that the terminal device searches for the path information based on the property information of the data.

US Pat. No. 10,275,639

FACE DETECTING AND TRACKING METHOD, METHOD FOR CONTROLLING ROTATION OF ROBOT HEAD AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A face detecting and tracking method comprising: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 a face in the tracking box of the image of current frame;
wherein the step of 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, comprises:
determining that an image of previous frame, which the image of current frame is successive to, and the image of current frame comprise one or more face boxes;
determining that the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame are located at corresponding positions; and
determining that the image of current frame does not comprise a falsely detected face box, and saving one of the one or more face boxes of the image of current frame as the first face box;
wherein the step of determining if the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame are located at corresponding positions, comprises:
determining that the image of current frame and the image of previous frame are orientated in the same way in the same coordinate system, and that overlapping portions exist between the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame;
computing a first overlapping rate of an area of the overlapping portions to an area of the one or more face boxes of the image of current frame, and computing a second overlapping rate of an area of the overlapping portions to an area of the one or more face boxes of the image of previous frame;
in response to the first overlapping rate and/or the second overlapping rate being greater than a predetermined value,
determining that the one or more face boxes of the image of current frame and the one or more face boxes of the image of previous frame are located at corresponding positions.

US Pat. No. 10,384,541

LASER RADAR MODULE AND ROBOT

UBTECH Robotics Corp., S...

1. A robot comprising a base, a housing and a laser radar module arranged on the base and within the housing, the laser radar module comprising a laser radar sensor, an upper cover disposed above the laser radar sensor, a lower case disposed below the laser radar sensor, and a locking assembly for connecting the upper cover to the lower case, a gap between the upper cover and the lower case for the laser radar sensor to transmit and receive signals, and the housing defining a through hole matching the gap;wherein the robot further comprises an inner stacking structure disposed within the housing, the inner stacking structure comprises a plurality of support bars, a separating plate and a mounting plate, one end of each of the support bars is fixed to the separating plate and an opposite end of each of the support bars is fixed to the mounting plate, and the separating plate is fixed to the support bars.

US Pat. No. 10,333,838

FRAME TRANSMISSION METHODS AND DEVICES

UBTECH Robotics Corp., S...

1. A frame transmission method, comprising:generating a data frame, wherein the data frame comprises an arbitration field and a data field, the arbitration field comprising a frame mode indication sub-field indicating a frame mode of the data frame, and the data field comprising an instruction sub-field indicating instruction messages carried within the data frame; and
sending the data frame;
wherein the data frame is one of a standard data frame and an expanded data frame, a length of the frame mode indication sub-field in the standard data frame is less than a length of the frame mode indication sub-field in the expanded data frame, and the frame mode indication sub-field indicates purpose of the data frame.

US Pat. No. 10,357,882

DATA UPGRADING METHODS AND DEVICES FOR ROBOTS

UBTECH ROBOTICS CORP., S...

1. A data upgrading method for a robot comprising a main controller and at least one node electrically connected to the main controller via a controller area network bus, the method comprising:transmitting, by the main controller, a data region preparation request requesting to prepare a data region to the at least one node;
configuring, by the at least one node, the data region to store at least one upgraded data packet in response to the data region preparation request, and transmitting a length of the data region to the main controller;
receiving, by the main controller, the length of the data region, and transmitting the at least one upgraded data packet to the at least one node according to a predetermined sending sequence, wherein the length of the data region is greater than or equal to a length of the at least one upgraded data packet;
transmitting, by the main controller, the length of the at least one upgraded data packet, an upgrading indicator, and a restarting time to the at least one node;
receiving, by the at least one node, the at least one upgraded data packet and saving the at least one upgraded data packet in the data region;
receiving, by the at least one node, the length of the at least one upgraded data packet, the upgrading indicator, and the restarting time; and
transmitting, by the at least one node, a confirmed length of the at least one upgraded data packet, a confirmed upgrading indicator, and a confirmed restarting time;
wherein the length of the at least one upgraded data packet, the upgrading indicator, and the restarting time are transmitted via a block control instruction frame;
the confirmed length of the at least one upgraded data packet, the confirmed upgrading indicator, and the confirmed restarting time are transmitted via a block return instruction frame.

US Pat. No. 10,377,045

ROBOTIC HAND

UBTECH ROBOTICS CORP., S...

1. A robotic hand comprising a servo housing, a printed circuit board (PCB), a motor, a planetary gear transmission assembly and a plurality of claws rotatably connected to the servo housing, wherein the motor is electrically connected to the PCB, an input end of the planetary gear transmission assembly is connected to an output shaft of the motor, an output end of the planetary gear transmission assembly comprises a helical gear shaft and a plurality of helical gears that are engaged with the helical gear shaft and the claws, the helical gears correspond to the claws respectively, one end of each of the claws is rotatably connected to the servo housing, and the claws are rotatable toward or away from one another when driven by the helical gears.

US Pat. No. 10,379,510

COMMAND CONTROL IN A MULTI-SERVO FEEDBACK CONTROL SYSTEM

UBTECH Robotics Corp., S...

1. A command control in a multi-servo feedback control system comprising a main controller and a plurality of servos electrically connected to the main controller, the command control comprising:sending, from the main controller, a first action command to the servos via serial data bus, acquiring preset delay time by the servos, performing actions by the servos according to the first action command, and sending feedback information by the servos to the main controller after the preset delay time, wherein the preset delay time of the plurality of servos are different from each other, the feedback information is configured to identify work status of the servos;
sending, from the main controller, a second action command, and determining, by the servos, whether the second action command is valid;
in response to the actions corresponding to the first action command being not performed by one of the servos, determining that the second action command is valid, performing, by said one of the servos, actions corresponding to the second action command, and sending the feedback information to the main controller after the preset delay time; and
in response to the actions corresponding to the first action command being performed by the servos, determining that the second action command is not valid, and masking the second action command, by the servos;
wherein the second action command is sent by the main controller, in response to the feedback information from any one of the servos are not fully received by the main controller within a preset time period after the first action command is sent.

US Pat. No. 10,367,440

SERVO ACTUATOR ID SETTING METHOD

UBTECH ROBOTICS CORP., S...

1. A servo actuator identity (ID) setting method for a servo actuator controlling system having a master controller and a plurality of servo actuators electrically coupled to the master controller, wherein the master controller comprises a master micro controller unit (MCU) and a plurality of interfaces, each of the plurality of interfaces is electrically coupled to the master MCU via a bus, the plurality of servo actuators are connected in series to one of the plurality of interfaces via a bus; each of the plurality of servo actuators comprises a servo MCU, a first interface, a second interface, a first servo switch, and a second servo switch, the first interface and the second interface are connected via a bus which is electrically coupled to the servo MCU; the first servo switch and the second servo switch are provided on the bus connected between the first interface and the second interface, the first servo switch is electrically coupled between the first interface and the servo MCU, the second servo switch is electrically coupled between the second interface and the servo MCU; a first connection line is provided between the first interface and the first servo switch to electrically couple to the servo MCU, and a second connection line is provided between the second interface and the second servo switch to electrically couple to the servo MCU, the method comprises:broadcasting, by the master controller, a message of replacing an ID of the servo actuator with a default disconnected ID to the plurality of servo actuators;
turning on, by each of the plurality of servo actuators, a servo switch of the servo actuator connected to an input interface in response to the ID of the servo actuator being the default disconnected ID;
turning off, by each of the plurality of servo actuators, the other servo switch of the servo actuator connected to an output interface in response to the ID of the servo actuator being the default disconnected ID, wherein the input interface is one of the first interface and the second interface, the output interface is the other of the first interface and the second interface, the output interface of each of the plurality of servo actuator is connected to the input interface of a next one of the plurality of servo actuators;
repeating the following steps to set IDs of the plurality of servo actuators one by one:
broadcasting, by the master controller, a signal to replace an ID with a target ID;
replacing, by the servo actuator that receives the signal, the ID of the servo actuator with the target ID according to the received signal; and
turning on, by a corresponding servo actuator, the second servo switch of the servo actuator in response to the ID of the servo actuator being not the default disconnected ID.

US Pat. No. 10,485,124

CABLE MANAGEMENT STRUCTURE AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A cable management structure for managing a connection cable in a robot, comprising a head structure, a waist structure and a base wherein:the waist structure comprises a rotating member, a rotating assembly and a fixed assembly, the rotating assembly is rotatably connected to the fixed assembly, the rotating member, the rotating assembly and the fixed assembly are coaxial, the rotating member defines a through hole, the rotating assembly is connected to the head structure and defines a passage communicating with the through hole;
the fixed assembly is connected to the base, the base comprises a main circuit board, and the main circuit board is located below the through hole; and
the connection cable comprises a first end connected to the main circuit board and a second, opposite end passing through the through hole and the passage and extending into the head structure; and
wherein the rotating assembly, comprises a support and a rotary disc, the rotary disc defines a first cable hole, a top of the rotating member is fixedly connected to the rotary disc, the through hole communicates with the first cable hole, the support comprises a connection disc and a support panel, connection disc is connected to a top of the rotary disc, and the support panel is connected to a top of the connection disc.

US Pat. No. 10,411,483

ROBOT RECHARGING DOCK AND ROBOT RECHARGING SYSTEM

UBTECH ROBOTICS CORP., S...

1. A robot recharging dock, comprising:a recharging dock body;
at least a pair of recharging contact pads configured on at least one side of the recharging dock body;
at least one recharging switch circuit, a recharging power supply connected to the recharging contact pads through the at least one recharging switch circuit; and
a sensing circuit connected to the at least one recharging switch circuit;
wherein the sensing circuit is configured to turn on the recharging switch circuit upon detecting a magnetic component of a robot, so that the recharging power supply outputs a recharging voltage to the recharging contact pads;
wherein the sensing circuit comprises:
a first resistor, a first capacitor, and a sensor;
wherein a first end of the first resistor connects to a first power supply, and a second end of the first resistor connects to a first end of the sensor;
a first end of the first capacitor connects to the first power supply, and a second end of the first capacitor is grounded; and
a second end of the sensor connects to the recharging switch circuit, and a third end of the sensor is grounded.

US Pat. No. 10,528,058

DISTANCE MEASURING METHOD OF ROBOT, ROBOT THEREOF, AND RECHARGING SYSTEM

UBTECH ROBOTICS CORP., S...

1. A distance measuring method of robots comprising at least one signals receiver, a driving device, and a processor, the method comprising:configuring, by the processor, a current position of a robot to be at a first position;
adjusting, by the driving device, a direction of the robot to align a signals receiver of the robot with a signals emitter of the signals transmitting position;
obtaining, by the processor, a first deflection angle of the signals receiver, wherein the first deflection angle is formed by the first direction and an X-axis of a robot coordinate;
adjusting, by the driving device, the direction of the robot to align the signals receiver of the robot with the signals emitter of the signals transmitting position when the robot being driven by a driver to move along a moving direction by a predetermined distance to the second position, and the moving direction being perpendicular to the first direction;
obtaining by the processor, a second deflection angle of the signals receiver, wherein the second deflection angle is formed by the second direction and the X-axis of the robot coordinate; and
obtaining, by the processor, a distance between the second position and the signals transmitting position according to an absolute difference between the first deflection angle and the second deflection angle, and the predetermined distance.

US Pat. No. 10,486,304

JOINT STRUCTURE AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A joint structure comprising:a fixed member, a rotatable member, and a connection assembly; wherein the fixed member comprises a housing and a first servo disposed within the housing, the connection assembly is configured to connect the rotatable member to an output shaft of the first servo, the connection assembly comprises a first flange fixedly connected to the rotatable member and a second flange connected to the output shaft of the first servo and the first flange, and the rotatable member extending from within the housing to an outside of the housing;
wherein the first flange and the second flange are independent from each other and independent from the rotatable member and the first servo; the first flange and the second flange are flat plate structures and axially abut against and align with each other such that the first servo is alignable with rotation of the rotatable member.

US Pat. No. 10,427,064

BUILDING BLOCK SET AND BUILDING BLOCK ROBOT

UBTECH ROBOTICS CORP., S...

1. A building block set, comprising:at least two building components engaging with each other, each of the building components comprising a base, a pair of fixing brackets protrusive from one side of the base, and a partition sheet connected between the two fixing brackets;
each of the fixing brackets comprising a pair of supporting sheets facing toward each other, a pivot shaft connected between the two supporting sheets, and two book-shaped portions respectively extending from the supporting sheets along a direction away from the pivot shaft; and
the partition sheet of each of the building components are connected between two adjacent supporting sheets of the two fixing brackets
wherein each of the fixing brackets further comprises a connecting sheet arranged between the two supporting sheets, the connecting sheet protrudes from a surface of the base, each of the hook-shaped portions protrudes from the connecting sheet along a first horizontal direction, and the supporting sheets protrude from the connecting sheet along a second horizontal direction, and the first horizontal direction is opposite to the second horizontal direction; and
wherein each of the hook-shaped portions of the building components comprises an adapter board extruding from a surface of the connecting sheet along the first horizontal direction, the adapter board is configured with an importing port and an engaging hole communicating with each other, when the pivot shaft of one building component is fastened to the adjacent building component, the pivot shaft engages with the engaging hole along the importing port, the importing port comprises a first end and a second end, the first end is closer to the engaging hole than the second end, and a diameter of the engaging hole is greater than a width of the first end of the importing port.

US Pat. No. 10,478,968

DRIVING ASSEMBLY, ANKLE ASSEMBLY AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP., S...

1. An ankle assembly of a robot, the ankle assembly being arranged between a foot of the robot and at least a portion of a leg of the robot, the ankle comprising a first driving assembly, the first driving assembly comprising:a first driving source comprising a first output shaft;
a second driving source; and
a gear set comprising a first gear and second gear that are engaged with each other, the first gear being arranged around the first output shaft:
wherein the ankle assembly further comprising a second driving assembly and a connection support; the first driving assembly is connected to the foot, the second driving assembly is connected to the at least a portion of the leg, and the connection support is connected to the first driving assembly and the second driving assembly.

US Pat. No. 10,451,647

METHOD AND DEVICE FOR MEASURING SPEED OF PERMANENT MAGNET SYNCHRONOUS MOTOR

UBTECH Robotics Corp., S...

1. A method for measuring speed of a permanent magnet synchronous motor, comprising:providing a device electronically coupled to an incremental encoder of the permanent magnet synchronous motor;
acquiring, by the device, a number K of pulse signals received in a current measuring period and outputted by the incremental encoder, the current measuring period having a length of T;
acquiring a first duration Sn-1 measured between a time point when a pulse is last received in a previous measuring period and a time point when the previous measuring period ends, and a second duration Sn measured between a time point when a pulse is last received in the current measuring period and a time point when the current measuring period ends;
calculating a third duration T0, measured between the time point when the pulse is last received in the previous measuring period and the time point when the pulse is last received in the current measuring period, according to the length T of the current measuring period, the first duration Sn-1 and the second duration Sn; and
calculating a motor speed v according to the following formula:

 where K0 is a number of the pulses outputted by the incremental encoder when the permanent magnet synchronous motor rotates for one revolution;
wherein the step of acquiring the second duration Sn measured between the time point when the pulse is last received in the current measuring period and the time point when the current measuring period ends, comprises:
resetting a high frequency timer when receiving the pulse outputted by the incremental encoder;
the high frequency timer incrementing a count value if the permanent magnet synchronous motor rotates in a forward direction;
the high frequency timer decrementing a count value if the permanent magnet synchronous motor rotates m a reverse direction; and
acquiring a time value from the high frequency timer as the second duration Sn when the current measuring period ends.

US Pat. No. 10,421,199

SKIN FOR ROBOT

UBTECH ROBOTICS CORP., S...

1. A skin for a robot, the skin comprising:a first composite layer structure configured to be arranged on a housing of the robot, the first composite layer structure comprising a base adhesive layer arranged on the housing of robot, a first supporting layer stacked on the base adhesive layer and a first silver conductive adhesive layer stacked on the first supporting layer;
a second composite layer structure configured to cover the first composite layer, the second composite layer comprising a second silver conductive adhesive layer stacked on the first composite layer structure, and a second supporting layer stacked on the second silver conductive adhesive layer; and
a plurality of first insulating protrusions arranged between the first silver conductive adhesive layer and the second silver conductive adhesive layer, the first insulating protrusions being configured to separate the first silver conductive adhesive layer and the second silver conductive adhesive layer;
wherein the first silver conductive adhesive layer is electronically contactable with the second silver conductive adhesive layer upon a condition that a force is applied to the second composite layer structure.

US Pat. No. 10,503,749

DATA PROCESSING METHOD, DEVICE AND SYSTEM OF QUERY SERVER

UBTECH ROBOTICS CORP., S...

1. A data processing method, comprising:providing a data processing system comprising a storage server, a loading server, and a query server cluster, wherein the loading server is electronically coupled to the storage server and the query server cluster;
extracting, by the loading server, updated data from at least two table databases stored in the storage server,
receiving, by a query server of the query server cluster, the updated data inserted by the loading server, and determining one query server to create the inverted index for the updated data according to a workload of each query server in the query server cluster,
dividing, by the query server, the updated data into a plurality of data partitions and allocating the plurality of data partitions to the one query server;
in response to the plurality of data partitions being allocated to the query server by itself, creating, by the query server, an inverted index for the plurality of data partitions, wherein the inverted index is indexed to an index table of the query server, and the plurality of data partitions allocated to, the query server is allocated by itself and/or by other query servers in the query server cluster;
determining, by the query server, whether a creation of the inverted index is failed, in response to the creation of the inverted index being failed, if the plurality of data partitions corresponding to the failed inverted index is allocated by itself, sending, by the query server, a message denoting that the inverted index is failed to create to the loading server which is configured to insert the plurality of data partitions with failed inverted index; and if the plurality of data partitions corresponding to the failed inverted index is allocated by other query server, sending, by the query server, a message denoting that the inverted index is failed to create to the query server which allocates the plurality of data partitions, wherein the query server which allocates the plurality of data partitions transfers the message to the loading server, and the message comprises an identification of the plurality of data partitions with failed inverted index; and
receiving, by the query server, the plurality of data partitions corresponding to the flailed inverted index, and creating the inverted index for the plurality of data partitions corresponding to the failed inverted index, wherein the inverted index is indexed to the index table.

US Pat. No. 10,478,967

SERVO CONTROL SYSTEM AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A servo control system, applied to a servo, wherein the servo control system comprises:a main control module; and
a driving module comprising a driving circuit and an electronic switch circuit, the driving circuit being coupled to the main control module, and the electronic switch circuit being coupled between the driving circuit and a driving motor of the servo, wherein:
the driving circuit receives a control signal outputted by the main control module and outputs a driving signal according to the control signal, and the electronic switch circuit outputs a driving pulse to the driving motor according to the driving signal, to control the driving motor to rotate;
wherein the driving motor is a three-phase driving motor, neutral points of three-phase windings of the three-phase driving motor are coupled together, the driving motor comprises a first terminal, a second terminal and a third terminal, the driving circuit comprises three driving units, and driving chips of the three driving units are connected to the first terminal, the second terminal and the third terminal through the electronic switch circuit respectively for powering up any two of the first terminal, the second terminal and the third terminal of the driving motor so as to control the driving motor to rotate in a forward direction or a reverse direction.

US Pat. No. 10,469,321

CHANNEL CONFIGURATION METHODS AND DEVICES FOR ROBOTS

UBTECH Robotics Corp., S...

1. A channel configuration method for communication between a main controller of a robot and at least one node of the robot, comprising:receiving, by the main controller, a serial number of the at least one node via a broadcast channel;
determining, by the main controller, a channel bonded with the at least one node as the channel for communicating with the node based on the serial number, wherein the main controller communicates with the node via the channel;
transmitting, by the main controller, at least one channel configuration message via the broadcast channel for configuring the channel for communicating with the node, wherein the channel configuration message carries the serial number of the node and a description message of the channel.

US Pat. No. 10,464,208

COMPUTER-IMPLEMENTED METHOD FOR SETTING DEVICE IDENTIFICATION, MAIN CONTROL CIRCUIT, AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A computer-implemented method for setting device identification, comprising:providing a robot comprising a main control circuit, a first device, and a second device, the main control circuit electronically coupled to the first device and the second device;
reading, by the main control circuit, a type of the first device;
sending a first identification to the first device;
setting the first device to have the first identification;
reading, by the main control circuit, a type of the second device;
determining whether the type of the first device is the same as the type of the second device;
sending a second identification different from the first identification to the second device, in response to the type of the first device being the same as the type of the second device;
sending a second identification same as or different from the first identification to the second device, in response to the type of the first device being different from the type of the second device: and
setting the second device to have the second identification.

US Pat. No. 10,488,298

APPARATUS AND SYSTEM FOR TESTING IDLE POSITION OF SERVO

UBTECH ROBOTICS CORP., S...

1. An apparatus for testing an idle position of a servo, comprising:a driving mechanism configured to connect to an output shaft of a testing servo, and to drive the output shaft of the testing servo to rotate; wherein the driving mechanism comprises a driving servo having a driving shaft, and a transmission unit connecting to the driving shaft; wherein the transmission unit transmits torque of the driving shaft to the output shaft of the testing servo; and
a control circuit configured to electrically connect to the driving servo and the testing servo; wherein the control circuit drives the driving servo to rotate, and loads angle information of internal sensors of the testing servo and the driving servo.

US Pat. No. 9,946,250

SERVO ACTUATOR DEFAULT DISCONNECTED ID SETTING METHOD FOR SERVO CONTROLLING SYSTEM

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented identifier (ID) setting method, comprising:providing at least two servo actuators comprising a first servo actuator and a second servo actuator connected in sequence, the first servo actuator and the second servo actuator each comprising a first interface and a second interface, the first servo actuator and the second servo actuators coupled to an interface of a master controller of a servo controlling system via a bus, the master controller comprising a micro controller unit (MCU);
broadcasting, by the master controller, a first message to the servo actuators, the first message indicating that an original ID of the servo actuators is replaced with a non-default-disconnected ID, wherein the non-default-disconnected ID is different from a default-disconnected ID;
detecting, by the servo actuators, which of the first interface and the second interface of the servo actuators receives the first message;
when the first interface receives the first message, setting the first interface to be an input interface by the servo actuators, and setting the second interface to be an output interface by the servo actuators;
turning on the input interfaces and the output interfaces of the servo actuators when a current ID of the servo actuators is same as the non-default-disconnected ID;
broadcasting a second message to the servo actuators by the master controller, the second message indicating that the non-default-disconnected ID is replaced with the default-disconnected ID;
replacing the non-default-disconnected ID of the servo actuators with the default-disconnected ID by the servo actuators according to the second message; and
turning on the input interface of the servo actuators and turning off the output interface of the servo actuators when the current ID of the servo actuators is same as the default-disconnected ID.

US Pat. No. 10,498,190

SERVO INCLUDING MECHANISM FOR PREVENTING ABNORMAL ROTATION OF SERVO OUTPUT SHAFT AND ROBOT INCLUDING THE SAME

UBTECH ROBOTICS CORP., S...

1. A servo assembly, comprising:a housing;
a motor, a control circuit board and a gear transmission mechanism that are arranged in the housing, the motor being electrically connected with the control circuit board, the gear transmission mechanism being rotatably connected with a motor output shaft of the motor;
a servo output shaft having one end that is received in the housing and located above the control circuit board and an opposite end that extends out of the housing, the gear transmission mechanism being rotatably connected with the servo output shaft;
a servo plate connected to the end of the servo output shaft which is away from the control circuit board, the servo plate comprising a connecting portion connected with the servo output shaft; and
an annular member disposed between an end surface of the connecting portion and the housing, the annular member being configured to limit an abnormal rotation of the servo output shaft, wherein the annular member is a speed reducing ring, an upper end surface of the housing comprises a mounting portion for accommodating the speed reducing ring, one end of the servo output shaft passes through the mounting portion, and the speed reducing ring is arranged around the servo output shaft and located outside the housing.

US Pat. No. 10,569,427

SERVO TRANSMISSION MECHANISM

UBTECH ROBOTICS CORP., S...

1. A servo transmission mechanism comprising:a servo main body comprising a first end having an output shaft and a second opposite end;
a first housing connected to the output shaft of the servo main body;
a second housing;
a connecting rod comprising an upper end and a lower end that comprises a connecting shaft, opposite ends of the connecting shaft are rotatably connected to the first housing and the second housing, respectively; and
a linking member configured to rotatably connect the upper end of the connecting rod to the second end of the servo main body.

US Pat. No. 10,556,352

WAIST ROTATION STRUCTURE AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A waist rotation structure comprising:a mounting disc defining a through hole,
a rotatable disc located at a first side of the mounting disc, the rotatable disc defining a first cable insertion hole;
a driving device fixed to a second side of the mounting disc that is opposite the first side, the driving device comprising an output shaft; and
a transmission assembly comprising a drive gear connected to the output shaft, and a transmission cylinder extending through the through hole, the transmission cylinder comprising a body that extends through the through hole, and is rotatably connected to the mounting disc and fixedly connected to the rotatable disc, and a driven gear arranged on a lateral surface of the body and engaged with the drive gear, and the body defining a wiring hole extending opposite ends thereof and aligning with the first cable insertion hole,
wherein the waist rotation structure further comprises a stopper assembly, the stopper assembly comprising a stopper arranged on a side of the rotatable disc that faces the mounting disc, and two posts arranged on a side of the mounting disc that faces the rotatable disc, and the two posts being located on a movement path of the stopper, and being spaced apart from each other.

US Pat. No. 10,518,408

ROBOT JOINT STRUCTURE

UBTECH ROBOTICS CORP., S...

1. A robot joint structure comprising:a servo comprising a servo main body and an output shaft, the output shaft comprising one end protruding out of the servo main body, and a servo plate being fixed to the output shaft and rotatable together with the output shaft; and
a connection part comprising a first connection arm, and the first connection arm defining at least one connection chamber allowing the servo plate to be inserted thereinto and mating tightly with the servo plate, to fix the connection part to the servo plate;
wherein the connection part further comprises a second connection arm and a third connection arm, the first connection arm and the third connection arm are arranged at opposite ends and at a same side of the second connection arm and extend outward, the first connection arm and the third connection arm corporately define a first space to receive the servo main body therein;
the servo plate comprises a column and a plate that are connected to each other, and the connection chamber comprises a second space for receiving the plate and an opening for receiving the column, the second space communicates with the first space through the opening;
the servo plate and the connection chamber are provided with a fastener assembly, the second space of the chamber is configured to prevent the plate from moving in a first direction and a second direction, and the fastener assembly is configured to prevent the column from moving in a third direction, thereby fixing the servo plate to the connection part;
the connection chamber comprises a bottom panel, a top panel, a left panel, a right panel and a rear panel, the bottom panel, the top panel, the left panel, the right panel and the rear panel form the second space, the top panel defines the opening therein, and the fastener assembly is arranged at the column and the top panel.

US Pat. No. 10,377,037

SPEED REDUCTION DEVICE, JOIN SERVO AND ROBOT

UBTECH Robotics Corp, Sh...

1. A speed reduction device comprising:a driving device configured to provide power and comprising an output shaft for outputting the power;
a first stage speed reduction assembly configured to change an output direction of the power, the first stage speed reduction assembly comprising a power gear that is mounted on the output shaft and rotates together with the output shaft, and a face gear that engages the power gear, and a rotation direction of the face gear being perpendicular to a rotation direction of the power gear, and
a second stage speed reduction assembly securely mounted on a surface of the face gear that has gear teeth, the second stage speed reduction assembly comprising a sun gear that rotates coaxially with the face gear, a planet gear set that engages the sun gear and is driven to rotate by the sun gear, a fixed gear that is mutually engaged with the planet gear set and configured to prevent the planet gear set from idling, an output gear that is mutually engaged with the planet gear set and outputs the power, and a fixed shaft that passes through the face gear, the sun gear and the planet gear set in sequence and is fixed to the output gear.

US Pat. No. 10,559,233

SEGMENT DISPLAY DEVICE

UBTECH ROBOTICS CORP., S...

1. A segment display device comprising:a housing comprising an upper cover and a lower cover connected to the upper cover, the upper cover defining a plurality of upper connection holes and a display window, the lower cover defining a plurality of lower connection holes at positions corresponding to the upper connection holes, the upper connection holes and the lower connection holes being configured for connecting the housing to a building block, and the housing defining an interface opening;
a circuit board arranged within the housing and comprising a first circuit port and a second circuit port, the first circuit port and the second circuit port being located at the interface opening; and
a segment display arranged on the circuit board at a position corresponding to the display window;
wherein the segment display device is connected to the building block through a plurality of connection pins, each of the plurality of connection pins comprises a connecting shaft that comprises a stopper shoulder on a circumferential surface thereof along a circumferential direction thereof, the stopper shoulder is located between opposite ends of the connecting shaft, and one end of each of the plurality of connection pins is inserted into one of the upper connection holes or one of the lower connection holes, and the other end of each of the plurality of connection pins is configured to connect with the building block;
a receiving space is formed between each upper connection hole and a lower connection hole corresponding to the upper connection hole, each of the plurality of connection pins comprises a projection at an end thereof that extends along a circumferential direction thereof, and the projection of each of the plurality of connection pins is received in one of the receiving spaces.

US Pat. No. 10,529,323

SEMANTIC PROCESSING METHOD OF ROBOT AND SEMANTIC PROCESSING DEVICE

UBTECH ROBOTICS CORP., S...

1. A semantic processing method comprising:receiving, by a semantic processing platform, a voice request from a robot;
performing, by the semantic processing platform, a sematic analysis on the voice request to obtain a current sematic intention;
determining, by the semantic processing platform, whether a response matching the current semantic intention is stored in a database, wherein the database is configured to store at least one response corresponding to a variety of the current semantic intentions;
obtaining, by the semantic processing platform, the response matching the current semantic intention from the database in response to determining that the response matching the current semantic intention is stored in the database;
obtaining, by the semantic processing platform, the response matching the current semantic intention by accessing a third-party application corresponding to the current semantic intention, in response to determining that the response matching the current semantic intention is not stored in the database, wherein the third-party application is accessed via an open interface of the third-party application; and
transmitting, by the semantic processing platform, the response matching the current semantic intention to the robot to guide the robot to perform a corresponding action.

US Pat. No. 10,447,992

IMAGE PROCESSING METHOD AND SYSTEM

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented image processing method, comprising executing on a processor steps of:obtaining images of a target environment captured by a robot in a preset movement trajectory according to a predefined condition;
combining every two of the images having a same region into a corresponding image pair based on an initial position estimation of each of the images;
producing an image seed based on the image pair, wherein each image seed has a plurality of image pairs, and any image of each image pair in the image seed has at least one identical regional feature with an image of another image pair in the image seed;
performing position optimization on the image seed;
producing an image subset based on the image seed after the position optimization, wherein the image subset has a plurality of image seeds, and at least one identical regional feature exists between adjacent image seeds; and
performing position optimization on the image subset based on the image seeds in the image subset.

US Pat. No. 10,500,734

SERVO ASSEMBLY, ROBOT JOINT AND ROBOT

UBTECH ROBOTICS CORP, Sh...

1. A servo comprising:a casing;
a motor assembly arranged within the casing, the motor assembly comprising a hollow output shaft extending within the casing;
a harmonic drive comprising a flex spline, a wave generator arranged at one end of the output shaft and a circular spline that comprises a inner ring gear, the flex spline comprising a hollow cylindrical member and an annular portion connected to one end of the cylindrical member, the cylindrical member being arranged around the wave generator and comprising an outer ring gear on an outer lateral surface thereof, which is engaged with the inner ring gear;
a first bearing configured to rotatably connect the flex spline to the circular spline so as to enable one of the flex spline and the circular spline to serve as an output member, and enable the other one to serve as a fixed member;
a post fixed to the output member and received in the output shaft;
a first source member arranged at one end of the post that is away from the output member; and
a control circuit board arranged under the end of the post that includes the first source member, the control circuit board comprising a first sensing member, the first sensing member and the first source member corporately constituting a first rotation sensor that is configured to detect rotation of the output member.

US Pat. No. 10,384,352

FINGER OF ROBOTIC HAND AND ROBOT HAVING THE SAME

UBTECH Robotics Corp, Sh...

1. A finger of a robotic hand, comprising:a phalanx portion comprising at least two phalanxes rotatably coupled to each other;
a rotating member that is rotatable with respect to the phalanx portion;
a rope comprising two opposite ends respectively connected to one of the at least two phalanxes and the rotating member, the rope being configured to pull one of the at least two phalanxes to rotate;
a rotating cam driven by a driving device and comprising a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction; and
an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction, the second direction being different from the first direction;
wherein when the rotating member rotates in one of the first direction and the second direction, the rope is pulled by the rotating member and then pulls the one of the at least two phalanxes to rotate.

US Pat. No. 10,574,793

METHOD, APPARATUS AND TERMINAL DEVICE FOR COMMUNICATION PROTOCOL COMPATIBILITY

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented method for communication protocol compatibility, comprising executing on a processor steps of:receiving a handshake instruction transmitted by an external device, wherein the handshake instruction comprises an external protocol list, the external protocol list comprises a correspondence relationship between an external protocol and version information of the external protocol;
retrieving a locally stored local protocol list, wherein the local protocol list comprises a correspondence relationship between a local protocol and version information of the local protocol;
determining whether there is a same version information in the external protocol list and the local protocol list;
taking one of the same version information of the external protocol list and the local protocol list as matched version information, if the external protocol list and the local protocol list have the same version information;
taking the local protocol corresponding to the matched version information as the protocol for communicating with the external device, and transmitting the matched version information to the external device; and
transmitting a service protocol mismatch response to the external device, if there is no the same version information in the external protocol list and the local protocol list, wherein the service protocol mismatch response is used to notify the external device that related service data cannot be received, transmitted or parsed.

US Pat. No. 10,564,631

SERVO MOVEMENT CONTROL METHOD, DEVICE, AND TERMINAL DEVICE

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented servo movement control method for a servo of a robot, comprising executing on a processor steps of:controlling an output shaft of the servo to rotate according to a first motion instruction, wherein the first motion instruction is configured to control the output shaft of the servo to rotate from an actual position when receiving the first motion instruction to a first target end position according to a first target motion curve;
detecting whether a second motion instruction is received within a first preset time period, and re-planning a second target motion curve to a second target end position from a corresponding target position on the first target motion curve when receiving the second motion instruction; and
controlling the output shaft of the servo to rotate from an actual position when receiving the second motion instruction to the second target end position according to the second target motion curve.

US Pat. No. 10,518,420

FINGER OF ROBOTIC HAND AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP, Sh...

1. A finger of a robotic hand, comprising:a phalanx portion comprising two phalanxes rotatably coupled to each other, one of the two phalanxes being rotatable about a rotation axis with respect to the other one of the two phalanxes; and
a stopper structure comprising a first stopper member connected to the one of the two phalanxes and a second stopper member connected to the other one of the two phalanxes, the first stopper member extending around the rotation axis, a circumferential space being defined between the first stopper member and the second stopper member and allowing the first stopper member to rotate together with the one of the two phalanxes in a predetermined range,
wherein the finger further comprises a rope and a transmission assembly, the rope being connected to the one of the phalanxes and the transmission assembly, and the transmission assembly being configured to pull the rope to move so as to enable the rope to pull the one of the phalanxes to rotate.

US Pat. No. 10,518,184

ASSEMBLY AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP, Sh...

1. An assembly for a robot, comprising:a shoulder;
an arm rotatably connected to the shoulder;
an armor decorative member connected to the arm and located adjacent to the shoulder;
a connection assembly located between and rotatably connected to the arm and the armor decorative member, wherein relative rotation between the arm and the connection assembly and between the armor decorative member and the connection assembly enables the arm to continue to rotate after an upper end of the armor decorative member comes into contact with the shoulder; and
a connection shaft;
wherein the connection assembly comprises a first connection member, a second connection member, a first torsion spring and a second torsion spring, the first connection member comprises a first end rotatably connected to the armor decorative member and a second, opposite end, the second connection member comprises a first bar and a second bar, the second end of the first connection member is rotatably connected to the first bar, the first torsion spring is connected to the first connection member and configured to apply a restoring force to the armor decorative member, and the second torsion spring is connected to the first bar and the second bar and configured to return the first connection member and the second connection member to original orientation thereof with respect to the arm;
wherein the first end of the first connection member defines a first connection hole, and the armor decorative member defines a mounting hole, one end of the connection shaft is fixed in one of the first connection hole and the mounting hole, and an opposite end of the connection shaft is rotatable in the other one of the first connection hole and the mounting hole, thereby rotatably connecting the armor decorative member to the first connection member.

US Pat. No. 10,635,115

RECHARGING ALIGNMENT METHOD OF ROBOT, AND THE ROBOT THEREOF

UBTECH ROBOTICS CORP., S...

5. An automatic recharging robot, comprising;a robot body, a memory storage, a signal receiver configured on the robot body, and a processor;
wherein the signal receiver is configured to receive optical signals emitted from an external device;
the memory storage is configured to store computer programs;
the processor is configured to conduct the computer programs to:
control the robot body to rotate to a first critical point to receive the optical signals emitted from a recharging dock to obtain position information of the first critical point;
control the robot body to rotate from the first critical point to a second critical point to receive the optical signals to obtain position information of the second critical point;
determine a mid-point of the first critical point and the second critical point according to the position information of the first critical point and the second critical point;
control the signal receiver to the mid-point to align with the recharging dock;
wherein the position information of the first critical point is a first deflection angle relative to a reference direction of the robot, and the position information of the second critical point is a second deflection angle relative to the reference direction of the robot;
the processor is configured to:
configure a deflection angle difference between the mid-point and the second critical point to be half of an absolute difference value between the first deflection angle and the second deflection angle; and
adjust the signal receiver from the second critical point to a position having a third deflection angle of the reference direction and to reach the mid-point, wherein the third deflection angle is configured to be a sum of a minimum value among the first deflection angle and the second deflection angle, and the deflection angle difference.

US Pat. No. 10,637,325

COMPACT SERVO

UBTECH ROBOTICS CORP., S...

1. A servo comprising:a housing comprising an upper housing, a middle housing and a lower housing that are stacked on one another, and a lateral side defining a cutout at a substantially central portion of the lateral side;
a motor, a printed circuit board (PCB) and a servo output shaft that are accommodated within the housing, the motor being electrically connected to the PCB, the motor comprising a motor output shaft, the lateral side being substantially parallel to the servo output shaft;
a gear transmission mechanism configured to connect the motor output shaft to the servo output shaft, comprising a first-stage shaft and a second-stage shaft that are parallel to the servo output shaft, a motor gear arranged around the motor output shaft, a servo gear arranged around the servo output shaft, a first gearset and a third gearset arranged around the first-stage shaft, and a second gearset arranged around the second-stage shaft;
an output arm comprising a proximal end that is arranged within the housing through the cutout and defines a through hole through which the servo output shaft passes, and a distal end extending out of the housing to connect with an external component;
a first bearing arranged around an upper portion of the servo output shaft and between the upper housing and the servo output shaft;
a second bearing arranged around a middle portion of the servo output shaft and between the middle housing and the servo output shaft;
a connecting member; and
a magnet;
wherein the lower portion of the servo output shaft extends through the through hole with a lower end thereof connected to the connecting member, the connecting member defines a receiving cavity in which the magnet is received, and the magnet is fixed to the connecting member by press riveting;
wherein the motor gear, the first gearset, the second gearset, the third gearset and the servo gear are sequentially engaged with one another, and the first-stage shaft is fixed to the upper housing, and the second-stage shaft is integrally formed with the middle housing, and the cutout is defined at the middle housing.

US Pat. No. 10,637,331

SERVO

UBTECH ROBOTICS CORP., S...

1. A servo, comprising:a power input device, a gear assembly connected to the power input device;
a power output frame that is driven to rotate by the gear assembly;
an output shaft arranged at the power output frame;
a magnetic encoding assembly that is arranged at a rotation center axis of the power output frame and configured to detect a rotation angle of the output shaft relative to the rotation center axis; and
a circuit board connected to the magnetic encoding assembly and the power input device,
wherein the power output frame is inscribed to a flange disk, a central axis of the flange disc coincides with the rotation center axis of the power output frame, and the circuit board is arranged on the flange disc, the magnetic encoding assembly is arranged on the circuit board and located at the central axis of the flange disc, and the circuit board is provided with a sliding groove the is slidably mated with the output shaft.

US Pat. No. 10,637,719

BUS EXCEPTION HANDING METHOD OF ROBOT AND BUS EXCEPTION HANDLING DEVICE

UBTECH ROBOTICS CORP., S...

8. A bus exception handling method of a robot comprising a main controller and a plurality of execution nodes electronically coupled to a bus of the robot, the method comprising:determining, by an execution node of the robot, whether the execution node is in an abnormal operating status;
in response to determining the execution node is in the abnormal operating status, sending, by the execution node, abnormal operating status information of the execution node to the main controller; and
receiving, by the execution node, an operating instruction sent from the main controller, and executing the operating instruction;
wherein the operating instruction is corresponding to a degree of abnormity of the execution node; and wherein the degree of abnormity of the execution node is determined by the main controller based on the abnormal operating status information, and is corresponding to the abnormal operating status;
wherein the method further comprises:
resending, by the execution node, the abnormal operating status information of the execution node to the main controller, in response to determining the operating status of the execution node is in the abnormal operating status, after the operating instruction is executed by the execution node;
wherein the operating instruction is a turn-off instruction, in response to the degree of abnormity of the execution node being a first level; wherein the operating instruction is an offline instruction, in response to the degree of abnormity of the execution node being a second level; and
wherein the operating instruction is a reset instruction, in response to the degree of abnormity of the execution node being a third level, wherein the second level is a higher degree of abnormity of the execution node and the third level is a higher degree of abnormity than the second level.

US Pat. No. 10,632,609

LINKAGE MECHANISM AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP., S...

1. A linkage mechanism comprising:a chest assembly of a robot;
a servo arranged within the chest assembly and comprising an output shaft;
a first linkage member comprising a first end and a second opposite end, the first end being connected to and rotatable together with 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 being rotatably connected to the chest assembly and the forearm assembly;
wherein the forearm assembly comprises a first housing, a second housing fixed to the first housing and a hand connected to the first housing and the second housing, the second end of the first linkage member is rotatably connected to the first housing, and an end of the second linkage member that is away from the chest assembly is rotatably connected to the second housing, and
wherein the first housing comprises a first protruding post on an inner surface thereof, the second housing comprises a second protruding post on an inner surface thereof, the first linkage member is rotatably connected to the first protruding post via a first fastener, and the second linkage member is rotatably arranged around the second protruding post.

US Pat. No. 10,632,612

ASSEMBLY FOR ROBOT AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP., S...

1. An assembly for a robot, comprising:a servo comprising an output gear;
a servo housing connected to the servo;
a rotary support connected to the servo and the servo housing, the rotary support being configured to rotate as driven by the servo; and
a stopper assembly arranged at the servo housing and the rotary support, the stopper assembly being configured to limit the rotary support to be rotatable in a predetermined range,wherein the rotary support comprises a gear, a first support, a second support and a connection member, the gear is fixed to the first support and engaged with the output gear, the second support is connected to the first support through the connection member, and the stopper assembly is arranged at the second support and the servo housing; andwherein the servo housing comprises a front housing, the front housing is connected to a first side of the servo opposite a second side where the output gear is located, the stopper assembly comprises a sliding groove defined in the front housing and a sliding block arranged on the second support and mated with the sliding groove.

US Pat. No. 10,632,614

MOTION-CONTROLLING METHOD OF ROBOT AND THE ROBOT THEREOF

UBTECH ROBOTICS CORP., S...

1. A motion-controlling method of a robot, comprising:transmitting at least one controlling instruction to a cache circuit continuously by a main control circuit, wherein the controlling instruction comprises controlling information for a specific servo;
determining whether the specific servo has completed the previous controlling instruction;
obtaining the controlling information of the specific servo from the cache circuit by a driving circuit upon determining the specific servo has completed the previous controlling instruction; and
transmitting the controlling information to the specific servo from the driving circuit to control the specific servo.

US Pat. No. 10,632,620

MOTION CONTROL METHOD AND ROBOT USING SAME

UBTECH ROBOTICS CORP., S...

1. A motion control method for a robot, comprising executing on a processor of the robot the steps of:determining whether at least two motion tasks executed in an adjacent sequence to move the robot have a same movement direction, wherein the at least two motion tasks comprises a motion task being currently executed and a motion task to be executed;
merging the at least two motion tasks into a new motion task, when the at least two motion tasks have the same movement direction;
updating the motion task being currently executed to the new motion task in real-time, and moving the robot by executing the new motion task;
wherein the step of merging the at least two motion tasks into the new motion task, comprises:
calculating a difference between a target distance and a moved distance of the motion task being currently executed to obtain an uncompleted distance, and
adding a target distance of the motion task to be executed to the uncompleted distance;
wherein the at least two motion tasks are managed by a motion task list in a motion control system of the robot, and the motion task to be executed comprises a preset motion task, a motion task input by a user, or a motion task generated by learning autonomously; and
wherein the preset motions task is performed in the first-in first-out manner, and the motion task input by the user and the motion task generated by learning autonomously are set with a high priority and are performed before the preset motion task.

US Pat. No. 10,627,806

SERVO CONTROL SYSTEM AND ROBOT

UBTECH ROBOTICS CORP., S...

1. A servo control system, applied to a servo, wherein the servo control system comprises:a main control module, comprising an angle information receiving terminal and a detection control terminal;
an angle collection module, comprising a magnet and a magnetic encoding chip spaced apart from the magnet by a certain distance, the magnet being connected to a rotation output shaft of the servo, the magnetic encoding chip comprising an angle information output terminal and a detection control receiving terminal, the angle information output terminal being coupled to the angle information receiving terminal of the main control module, and the detection control receiving terminal being coupled to the detection control terminal of the main control module; wherein:
when rotating, the rotation output shaft drives the magnet to rotate, the main control module controls, via the detection control terminal and the detection control receiving terminal, the magnetic encoding chip to sense information of changing magnetic field generated when the magnet rotates, the magnetic encoding chip senses information of rotation angle of the rotation output shaft of the servo according to the information of changing magnetic field, and the main control module receives, via the angle information output terminal and the angle information receiving terminal, the information of rotation angle of the rotation output shaft, and controls rotation of the servo according to the information of angle;
wherein the magnet is arranged at an end of the rotation output shaft of the servo and comprises of one N type first magnet and one S type second magnet, and a plane of the magnet is substantially parallel to a plane of the magnetic encoding chip;
wherein the servo control system further comprises a power supply module and a charge detection module coupled to the main control module, the power supply module is configured to provide a power supply for the servo, and the charge detection module is configured to detect a charge of a battery inside the servo;
wherein the power supply module comprises a first low dropout regulator, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a second low dropout regulator;
the first capacitor and the second capacitor are connected to each other in parallel between a first voltage terminal and a ground, and the first voltage terminal provides a reference power supply voltage converted into a first power supply voltage through the first low dropout regulator;
the third capacitor and the fourth capacitor are connected to each other in parallel between a second voltage terminal and a ground, the first power supply voltage is converted into a second power supply voltage through the second low dropout regulator;
the fifth capacitor and the sixth capacitor are connected to each other in parallel between a third voltage terminal and a ground, the second voltage terminal outputs a second power supply voltage, and the third voltage terminal outputs a second power supply voltage.

US Pat. No. 10,667,045

ROBOT AND AUTO DATA PROCESSING METHOD THEREOF

UBTECH ROBOTICS CORP LTD,...

1. A robot, comprising:at least one body part;
a main control module comprising a data buffer pool; and
a sound pickup module electrically coupled to the main control module, wherein the sound pickup module comprises N microphones distributed around the body part to collect audio data, where N?3 and N is an integer, and wherein when collecting the audio data, a part of the N microphones is capable of receiving a direct sound from a sound source, but the rest part of the N microphones is incapable of receiving the direct sound but reflect sounds of the sound source;
wherein, the main control module is configured to obtain first audio data of the sound source collected by the N microphones, perform a sound source localization based on the first audio data, obtain second audio data of the sound source collected by the part of the N microphones which is capable of receiving the direct sound, and perform a sound pickup and a voice recognition based on the second audio data;
wherein, the main control module is further configured to store X channels of reference audio data and N channels of audio data to the data buffer pool, obtain a first group of the audio data from the data buffer pool as the first audio data of the sound source collected by the N microphones, to use a first predetermined algorithm to locate a sound source, and obtain a second group of the audio data from the data buffer pool as the second audio data of the sound source collected by the part of the N microphones which is capable of receiving the direct sound, to use a second predetermined algorithm to perform a beam-forming and an audio noise reduction;
wherein the N channels of audio data is six channels of audio data, and the X channels of reference audio data is two channels of reference audio data;
wherein, audio data obtained by a first microphone in microphones arrays is taken as first audio data, audio data obtained by a second microphone in the microphones arrays is taken as second audio data, audio data obtained by a third microphone in the microphones arrays is taken as third audio data, audio data obtained by a fourth microphone in the microphones arrays is taken as fourth audio data, audio data obtained by a fifth microphone in the microphones arrays is taken as fifth audio data, audio data obtained by a sixth microphone in the microphones arrays is taken as sixth audio data, first channel reference audio data in the two channels of the reference audio data is taken as seventh audio data, and second channel reference audio data in the two channels of the reference audio data is taken as eighth audio data;
wherein, the first group of the audio data comprises the first audio data, the second audio data, the third audio data, the fourth audio data, the fifth audio data, the sixth audio data, the seventh audio data, and the eighth audio data; and
wherein, the second group of the audio data comprises the first audio data, the second audio data, the third audio data, the sixth audio data, the seventh audio data, and the eighth audio data.

US Pat. No. 10,667,091

WIRELESS POSITIONING METHOD AND SERVER AND STORAGE MEDIUM WITH THE SAME

UBTECH ROBOTICS CORP LTD,...

1. A computer-implemented wireless positioning method for an in-tunnel positioning system having at least a first positioning device, a plurality of second positioning devices, and a server, wherein the first positioning device and the plurality of second positioning devices are in a tunnel, an unobstructed ranging with respect to the first positioning device is implemented on at least one of the plurality of the second positioning devices, and the first positioning device, the plurality of second positioning devices, and the server communicate in a wireless manner wherein the method comprises executing on a processor of the server the steps of:obtaining an initial difference between the first positioning device and the second positioning device in a depth direction of the tunnel;
obtaining a current ranging value between the first positioning device and the second positioning device, where there is no obstruction between the first positioning device and the second positioning device;
determining a distance of the first positioning device and the second positioning device in the depth direction of the tunnel based on the current ranging value; and
obtaining a current coordinate of the second positioning device based on the distance and the initial difference;
wherein the step of determining the distance of the first positioning device and the second positioning device in the depth direction of the tunnel based on the current ranging value comprises:
performing a smooth filtering on each obtained ranging value between the first positioning device and the second positioning device; and
projecting the smooth filtered ranging value in the depth direction of the tunnel to obtain the distance of the first positioning device and the second positioning device in the depth direction of the tunnel.

US Pat. No. 10,663,034

BRUSHLESS SERVO

UBTECH ROBOTICS CORP., S...

1. A brushless servo comprising:a motor comprising a motor output shaft and a motor gear arranged around the motor output shaft;
a printed circuit board (PCB);
a servo output shaft arranged in parallel with the motor output shaft and comprising a servo gear arranged around the servo output shaft;
a gear transmission mechanism comprising a plurality of gearsets that engage in sequence and connect the motor output shaft to the servo output shaft, each gearset comprising a gear and a pinion smaller than the gear, each of the first one of the gearsets and the last one of the gearsets being arranged in a first manner that the gear is below the pinion thereof, and each of the rest of the gearsets being arranged in a second manner that the gear is above the pinion thereof, the first one of the gearsets being engaged with the motor gear, the last one of gearsets being engaged with the servo gear; and
a housing in which the motor, the printed circuit board (PCB), the servo output shaft, the gear transmission mechanism are accommodated, the housing comprising an upper housing, a middle housing and a lower housing that are stacked in sequence, wherein the motor output shaft extends from the middle housing into the upper housing to connect to the motor gear that is received within the upper housing, the servo output shaft connects to the servo gear received within the middle housing and extends out of the upper housing.

US Pat. No. 10,637,309

ROTOR LAMINATION AND MOTOR HAVING THE SAME

UBTECH ROBOTICS CORP, Sh...

1. An inner rotor lamination for a permanent magnet direct current motor, comprising: a yoke and a plurality of teeth connected to the yoke, each of the teeth comprising a tooth body connected to the yoke and a tooth tip connected to a distal end of the tooth body, a winding slot being formed between each two adjacent tooth bodies, at least one tooth tip defining one or more first through holes adjacent to a radial end thereof, and one or more second through holes, each of the one or more second through holes being located adjacent to one circumferential end of the at least one tooth tip.

US Pat. No. 10,635,075

METHOD FOR CONTROLLING ZERO-RETURN OF SERVO OF ROBOT, AND SERVO AND ROBOT WITH ENHANCED ZERO-RETURN

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented method for controlling zero-return of a servo of a robot, wherein the servo comprises a motor, a speed reducer electrically connected to an output shaft of the motor, a first encoder electrically connected to the output shaft of the motor, a second encoder electrically connected to an output shaft of the speed reducer, and a motor controller electrically connected to the motor, the first encoder and the second encoder, the method comprising executing on the motor controller steps of:outputting an activation command to the motor, wherein the activation command comprises a zero-return command;
reading a default zero-point of the output shaft of the motor (w1) and a default zero-point of the output shaft of the speed reducer (w2);
a first detecting step comprising detecting a current position of the output shaft of the speed reducer (w4) by the second encoder;
a first comparing step comprising comparing the default zero-point of the output shaft of the speed reducer (w2) with the current position of the output shaft of the speed reducer (w4);
a first driving step comprising driving the output shaft of the motor (w1) to return until the default zero-point of the output shaft of the speed reducer (w2) is the same with the current position of the output shaft of the speed reducer (w4) in response to the default zero-point of the output shaft of the speed reducer (w2) being not the same with the current position of the output shaft of the speed reducer (w4);
a second detecting step comprising detecting a current position of the output shaft of the motor (w3) by the first encoder;
a second comparing step comprising comparing the default zero-point of the output shaft of the motor (w1) with the current position of the output shaft of the motor (w3); and
a second driving step comprising driving the output shaft of the motor to return until the default zero-point of the output shaft of the motor (w1) is the same with the current position of the output shaft of the motor (w3) in response to the default zero-point of the output shaft of the motor (w1) being not the same with the current position of the output shaft of the motor (w3).

US Pat. No. 10,635,118

METHOD, TERMINAL DEVICE, AND COMPUTER READABLE STORAGE MEDIUM FOR CONTROLLING ROTATION OF SERVO

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented method for controlling rotation of a servo, comprising executing on a processor steps of:acquiring a loading mass and a rotation radius of the servo, from a sensor electrically connected with the servo or by an externally input;
calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo;
setting an angular acceleration of the servo according to the angular acceleration threshold;
rotating the servo according to the angular acceleration of the servo;
wherein the angular acceleration formula is expressed as:

wherein a is the angular acceleration of the servo, T is the rated torque of the servo, m is the loading mass of the servo, and r is the rotation radius of the servo;
wherein the setting step further comprises:
obtaining a first value by multiplying a default coefficient and the angular acceleration threshold; and
setting the first value as the angular acceleration of the servo; and
wherein the setting step further comprises:
obtaining a first angular acceleration;
comparing the first angular acceleration with the angular acceleration threshold;
setting the first angular acceleration as the angular acceleration of the servo in response to the first angular acceleration being less than or equal to the angular acceleration threshold; and
issuing a prompt message in response to the first angular acceleration being greater than the angular acceleration threshold.

US Pat. No. 10,682,756

DRIVING ASSEMBLY AND ROBOTIC HAND HAVING THE SAME

UBTECH ROBOTICS CORP, Sh...

1. A driving assembly of a robotic hand, the driving assembly comprising:an actuator;
a fixed member;
an elastic member comprising an end connected to the actuator;
at least two phalanxes rotatably connected to each other through a first revolute joint, a first one of the at least two phalanxes being rotatably connected to the fixed member through a second revolute joint;
torsion springs mounted to the first revolute joint and the second revolute joint, the torsion springs being configured to respectively apply a restoring force to the at least two phalanxes;
a first pulling member comprising two opposite ends that are respectively fixed to the fixed member and the first revolute joint, the first pulling member being configured to pull the first one of the at least two phalanxes so as to rotate the first one of the at least two phalanxes with respect to the fixed member;
a second pulling member comprising two opposite ends that are respectively fixed to the first revolute joint and the second revolute joint, the second pulling member being configured to pull a second one of the at least two phalanxes so as to rotate the second one of the at least two phalanxes with respect to the first one of the at least two phalanxes; and
a third pulling member comprising two opposite ends that are respectively fixed to the actuator and the second one of the at least two phalanxes, the third pulling member being configured to pull a second one of the at least two phalanxes so as to rotate the second one of the at least two phalanxes with respect to the first one of the at least two phalanxes.

US Pat. No. 10,685,672

LINEARITY DETECTING METHOD AND DEVICE FOR SERVO POSITION SENSOR, AND ROBOT WITH THE SAME

UBTECH ROBOTICS CORP, Sh...

11. A robot comprising:at least a servo having a position sensor;
one or more processors;
a memory; and
one or more computer programs stored in the memory and executed by the one or more processors, wherein the one or more computer programs comprise;
instructions for collecting an output angle of the servo under test, wherein the output angle is collected through the position sensor of the servo under test;
instructions for analyzing the output angle;
instructions for obtaining a relationship curve of angle and time of the servo under test to rotate for one turn;
instructions for extracting angle information of a starting point to an ending point of the output angle corresponding to the position sensor in the servo under test based on the relationship curve of angle and time to obtain valid angle data; and
instructions for determining whether the output angle corresponding to the position sensor is linear based on the valid angle data.

US Pat. No. 10,632,627

SERVO ASSEMBLY, ROBOT JOINT AND ROBOT

UBTECH ROBOTICS CORP, Sh...

1. A servo assembly, comprising:a first speed reducer comprising an input component and an output component, a first motor comprising an output shaft, a first connecting member, a first control circuit board, a second speed reducer comprising an input component and an output component, a second motor comprising an output shaft, a second connecting member, a second control circuit board, a housing comprising an upper housing and a lower housing that are connected to each other, a first fan and a second fan;
the first control circuit board being electrically coupled to the first motor, and the second control circuit board being electrically coupled to the second motor,
the output component of the first speed reducer and the first connecting member being coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member being coaxial and arranged along a second direction that is perpendicular to the first direction;
the output shaft of the first motor being connected to the input component of the first speed reducer, and the output shaft of the second motor being connected to the input component of the second speed reducer;
the first speed reducer, the first motor, the first connecting member, the first control circuit board, the second speed reducer, the second motor, the second connecting member and the second control circuit board are accommodated within the housing; and
the first fan is received in the upper housing and electrically connected to the first control circuit board, the second fan is received in the lower housing and electrically connected to the second control circuit hoard.

US Pat. No. 10,634,225

FINGER OF ROBOTIC HAND AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP, Sh...

1. A finger of a robotic hand, comprising:a phalanx portion comprising at least two phalanxes rotatably coupled to each other;
a driving device comprising a rotating member,
a connection assembly comprising:
a housing defining a sliding groove that comprises a first end and a second end defining a through hole that is in communication with the sliding groove;
a cap connected to the housing at the first end;
a sliding rod comprising a base slidably received in the sliding groove and a rod protruding from the base, the rod passing through the through hole of the second end and being connected to the rotating member in such a way that rotation of the rotating member drives the rod to move along the sliding groove; and
an elastic member received in the sliding groove and comprising two opposite ends that respectively abut against the base and an inner surface of the second end, the elastic member being configured to be deformed and push the housing to move;
a rope comprising two opposite ends respectively connected to the cap and one of the at least two phalanxes, the rope being configured to pull the one of the at least two phalanxes to rotate when pulled by the housing.

US Pat. No. 10,632,615

SERVO DRIVING METHOD, APPARATUS, AND ROBOT THEREOF

UBTECH ROBOTICS CORP, Sh...

9. A robot comprising:at least a servo;
one or more processors;
a memory; and
one or more computer programs stored in the memory and executed by the one or more processors, wherein the one or more computer programs comprise:
a first obtaining unit configured to obtain a current voltage of a power supply of the motor, in response to receiving, by a control circuit of the motor, a control instruction for driving the servo and describing target position information of the servo;
a second obtaining unit configured to obtain a duty ratio of a PWM (pulse width modulation) signal generated according to the control instruction and the current voltage, in response to the current voltage being not equal to a preset voltage;
a first calculation unit configured to calculate a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and
a signal generation unit configured to output a target PWM signal according to the target duty ratio, wherein the target PWM signal is for controlling the motor to drive the servo;
wherein the second obtaining unit comprises:
a calculation unit configured to calculate actual position information of the servo under the driving of the PWM signal according to the control instruction; and
a second calculation unit configured to import the target position information and the actual position information into a preset proportional adjustment PID (proportional integral derivative) control algorithm to perform a cycle operation to obtain the duty ratio.

US Pat. No. 10,627,805

METHOD, DEVICE, AND TERMINAL DEVICE FOR SERVO MOVEMENT SMOOTHING

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented servo movement smoothing method for a servo of a robot, comprising executing on a processor steps of:obtaining a starting position and a control command for a rotation of an output shaft of the servo;
determining an ending position and a rotation time for the rotation of the output shaft of the servo in accordance with the control command;
constructing a movement curve of the output shaft of the servo based on the starting position, the ending position, and the rotation time, wherein a horizontal coordinate of the movement curve represents time, a vertical coordinate of the movement curve represents a position, and the movement curve includes a linear function of a sine function or a cosine function; and
controlling the output shaft of the servo to rotate from the starting position to the ending position in accordance with the movement curve.

US Pat. No. 10,220,509

ANTI-SHAKE METHOD OF ROBOT AND ROBOT THEREOF

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented method of a robot comprising a limb and a servo of the limb, comprising:receiving a target rotational angle of an output shaft of the servo from a main control unit of the robot, and obtaining a current rotational angle of the output shaft and a preset fault tolerance range, wherein the preset fault tolerance range is a rotational angle of the output shaft between a target start rotational angle of the output shaft to a target end rotational angle of the output shaft;
determining whether the current rotational angle is within the preset fault tolerance range;
maintaining the output shaft of the servo at the current rotational angle and determining whether the servo receives a new target rotational angle in response to the current rotational angle within the fault tolerance range; and
rotating the output shaft of the servo to the target rotational angle in response to the current rotational angle being not within the fault tolerance range.

US Pat. No. 10,714,114

NOISE REDUCTION METHOD, SYSTEM AND TERMINAL DEVICE

UBTECH ROBOTICS CORP, Sh...

1. A computer-implemented noise reduction method for a robot having a head and a servo for controlling the head to rotate, the head being provided with a microphone array having a plurality of microphones located in beam areas on the head each being set as one of a noise suppression area and a sound source enhancement area, the method comprising executing on a processor steps of:positioning a far-field sound source to obtain a position angle of the far-field sound source with respect to the microphone array;
calculating a target rotation angle basing on the position angle and an initial rotation angle of the servo;
controlling the servo to rotate the target rotation angle to align the microphone array with the far-field sound source;
determining whether the sound source enhancement area is aligned with the far-field sound source basing on the position angle, the initial rotation angle, and the target rotation angle; and
changing the noise suppression area currently aligned with the far-field sound source to the sound source enhancement area by changing an audio signal suppression ratio thereof, in response to the sound source enhancement area being not aligned with the far-field sound source;
wherein calculating the target rotation angle basing on the position angle and the initial rotation angle of the servo further comprises:
obtaining the initial rotation angle of the servo;
determining whether the position angle and the initial rotation angle meet a first preset condition; and
controlling the sound source enhancement area to emit a beam to act on the far-field sound source, in response to the position angle and the initial rotation angle meeting the first preset condition; and
wherein the step of calculating the target rotation angle basing on the position angle and the initial rotation angle of the servo comprises:
calculating a determination angle basing on the position angle and the initial rotation angle; and
calculating the target rotation angle basing on the determination angle.

US Pat. No. 10,707,457

BATTERY CASE AND ROBOT HAVING THE SAME

UBTECH ROBOTICS CORP., S...

1. An assembly comprising:a torso portion of a robot; and
a battery case arranged in the torso portion, the battery case comprising a housing and an end cap, the housing defining a chamber for receiving a battery therein, the chamber having an open end, the end cap comprising a cap that is configured to cover the open end, a rotatable post rotatably passing through the cap and extending into the chamber, an elastic member arranged around the rotatable post and comprising an end abutting against the cap, and a locking member connected to the rotatable post and rotatable together with the rotatable post to a position where the locking member is engaged with the housing, thus locking the cap to the housing.

US Pat. No. 10,671,080

DATA PROCESSING METHOD FOR ROBOT AND ROBOT WITH THE SAME

UBTECH ROBOTICS CORP, Sh...

1. A robot comprising:an electromagnetic wave receiver disposed on the robot, wherein the electromagnetic wave receiver is configured to receive at least two electromagnetic wave signals transmitted by at least two electromagnetic wave transmitters on a charging device within a preset time range, wherein the at least two electromagnetic wave signals have at least one overlapping coverage area;
a demodulator coupled to the electromagnetic wave receiver, wherein the demodulator is configured to demodulate the at least two electromagnetic wave signals received by the electromagnetic wave receiver to obtain at least two corresponding electromagnetic wave demodulation data;
a processor coupled to the demodulator, wherein the processor is configured to determine electromagnetic wave demodulation control data based on the at least two obtained electromagnetic wave demodulation data and preset electromagnetic wave demodulation data; and
a controller coupled to the processor, wherein the controller is configured to move the robot according to the electromagnetic wave demodulation control data until the robot is docked at the charging device.