公开(公告)号：US11727784B2

公开(公告)日：2023-08-15

申请号：US17138944

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Yepeng Liu ,  Jun Cheng ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06F21/32 ,  G06K9/62 ,  G08B21/18 ,  G06T7/70 ,  G06V40/16

CPC classification number: G08B21/18 ,  G06T7/70 ,  G06V40/165 ,  G06T2207/30201

Abstract: A mask wearing status alarming method, a mobile device, and a computer readable storage medium are provided. The method includes: performing a face detection on an image to determine face areas each including a target determined as a face; determining a mask wearing status of the target in each face area; confirming the mask wearing status of the target in each face area using a trained face confirmation model to remove the face areas comprising the target being mistakenly determined as the face and determining a face pose in each of the remaining face areas to remove the face areas with the face pose not meeting a preset condition, in response to determining the mask wearing status as a not-masked-well status or a unmasked status; and releasing an alert corresponding to the mask wearing status of the target in each of the remaining face areas.

公开(公告)号：US11713088B2

公开(公告)日：2023-08-01

申请号：US17134202

申请日：2020-12-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

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

CPC classification number: B62D57/032 ,  B25J13/085 ,  B25J17/00

Abstract: A leg mechanism of a humanoid robot includes: an upper leg, a lower leg rotatably coupled to the upper leg, a knee module actuator mounted to the upper leg, a foot rotatably connected to the lower leg, a knee transmission mechanism connected to the knee module actuator and the lower leg and configured to transmit rotary motion from the knee module actuator to the lower leg, at least one ankle module actuator mounted to the upper leg, at least one ankle transmission mechanism connected to the at least one ankle module actuator and the foot and configured to transmit rotary motion from the at least one ankle module actuator to the foot.

公开(公告)号：US11709914B2

公开(公告)日：2023-07-25

申请号：US17510415

申请日：2021-10-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hanliu Wang ,  Jun Cheng ,  Jianxin Pang

IPC: G06V40/16 ,  G06F18/214 ,  G06V10/141 ,  G06V10/94 ,  G06V10/24 ,  G06N3/04

CPC classification number: G06F18/2148 ,  G06N3/04 ,  G06V10/141 ,  G06V10/245 ,  G06V10/95 ,  G06V40/166 ,  G06V40/171

Abstract: A backlight face recognition method, a terminal device using the same, and a computer readable storage medium are provided. The method includes: performing a face detection on each original face image in an original face image sample set to obtain a face frame corresponding to the original face image; capturing the corresponding original face images from the original face image sample set, and obtaining a new face image containing background pixels corresponding to the captured original face images from the original face image sample set; preprocessing all the obtained new face images to obtain a backlight sample set and a normal lighting sample set; and training a convolutional neural network using the backlight sample set and the normal lighting sample set until the convolutional neural network reaches a preset stopping condition. The trained convolutional neural network will improve the accuracy of face recognition in complex background and strong light.

公开(公告)号：US11644840B2

公开(公告)日：2023-05-09

申请号：US17109099

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  G05D1/02 ,  B25J13/08 ,  B62D57/032 ,  B25J11/00

CPC classification number: G05D1/0212 ,  B25J9/1641 ,  B25J9/1653 ,  B25J13/088 ,  B62D57/032 ,  B25J11/008

Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

公开(公告)号：US11629964B2

公开(公告)日：2023-04-18

申请号：US16843923

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: G01C21/32 ,  G05D1/02

Abstract: The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.

公开(公告)号：US11604466B2

公开(公告)日：2023-03-14

申请号：US17120232

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B62D57/02 ,  G05D1/02 ,  G05B19/4155 ,  G01L5/16

Abstract: A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US11560192B2

公开(公告)日：2023-01-24

申请号：US16885227

申请日：2020-05-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Hongge Wang ,  Yizhang Liu ,  Shuping Hu ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/02 ,  G05D1/08 ,  B25J9/16 ,  G06F17/18 ,  B25J19/02

Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.

公开(公告)号：US11475707B2

公开(公告)日：2022-10-18

申请号：US17134467

申请日：2020-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Jianxin Pang ,  Youjun Xiong

IPC: G06V40/16 ,  G06T7/00

Abstract: The present disclosure provides a method for extracting a face detection image, wherein the method includes: obtaining a plurality of image frames by an image detector, performing a face detection process on each image frame to extract a face area, performing a clarity analysis on the face area of each image frame to obtain a clarity degree of a face, conducting a posture analysis on the face area of each image frame to obtain a face posture angle, generating a comprehensive evaluation index for each image frame in accordance with the clarity degree of the face and the face posture angle of each image frame, and selecting a key frame from the image frames based on the comprehensive evaluation index. Such that the resource occupancy rate during image data processing may be reduced, and the quality of the face detection process may be improved.

公开(公告)号：US11423701B2

公开(公告)日：2022-08-23

申请号：US17118578

申请日：2020-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Miaochen Guo ,  Jingtao Zhang ,  Shuping Hu ,  Dong Wang ,  Zaiwang Gu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/62 ,  G06V40/20 ,  G06T7/73 ,  H04N1/60 ,  G06T5/00 ,  G06T7/90 ,  G06T7/64 ,  G06V10/22 ,  G06V10/56 ,  G06V20/40

Abstract: The present disclosure provides a gesture recognition method as well as a terminal device and a computer-readable storage medium using the same. The method includes: obtaining a video stream collected by an image recording device in real time; performing a hand recognition on the video stream to determine static gesture information of a recognized hand in each video frame of the video stream; encoding the static gesture information in the video frames of the video stream in sequence to obtain an encoded information sequence of the recognized hands; and performing a slide detection on the encoded information sequence using a preset sliding window to determine a dynamic gesture category of each recognized hand. In this manner, static gesture recognition and dynamic gesture recognition are effectively integrated in the same process. The dynamic gesture recognition is realized through the slide detection of the sliding window without complex network calculations.

公开(公告)号：US20220207913A1

公开(公告)日：2022-06-30

申请号：US17562963

申请日：2021-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Jun Cheng ,  Jianxin Pang

IPC: G06V40/16 ,  G06T7/73

Abstract: A method for training a multi-task recognition model includes: obtaining a number of sample images, wherein some of the sample images are to provide feature-independent facial attributes, some of the sample images are to provide feature-coupled facial attributes, and some of the sample images are to provide facial attributes of face poses; training an initial feature-sharing model based on a first set of sample images to obtain a first feature-sharing model; training the first feature-sharing model based on the first set of sample images and a second set of sample images to obtain a second feature-sharing model with a loss value less than a preset second threshold; obtaining an initial multi-task recognition model by adding a feature decoupling model to the second feature-sharing model; and training the initial multi-task recognition model based on the sample images to obtain a trained multi-task recognition model.