公开(公告)号：US20190197735A1

公开(公告)日：2019-06-27

申请号：US16205348

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T7/80 ,  H04N13/271 ,  H04N13/257 ,  H04N13/246

CPC classification number: G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20024 ,  G06T2207/20076 ,  H04N13/246 ,  H04N13/257 ,  H04N13/271

Abstract: The present disclosure provides a method and an apparatus for image processing, and a robot using the same. The method includes: obtaining a depth map and a color map of a target object in a predetermined scene; filtering the depth map based on the color map to obtain a first depth filter map; detecting pixel values of pixels in the first depth filter map to obtain one or more first pixels, and forming a black dot cavity area based on the one or more first pixels; re-assigning a depth value of each of the one or more first pixels in the black dot cavity area according to a preset rule to obtain the depth map after repair; and filtering the depth map after repair to obtain a second depth filter map. The present disclosure is capable of improving the quality of the depth map.

公开(公告)号：US20240193929A1

公开(公告)日：2024-06-13

申请号：US18536287

申请日：2023-12-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： KAN WANG ,  Jianxin Pang ,  Huan Tan

IPC: G06V10/82 ,  G06V10/77

CPC classification number: G06V10/82 ,  G06V10/7715 ,  G06V2201/07

Abstract: A target identification method includes: obtaining an image containing a target to be identified; performing feature extraction on the image to obtain image features in the image; and inputting the image features into a target identification network model to obtain an identification result that determines a class to which the target to be identified belongs. The target identification network model includes a loss function that is based on intra-class constraints and inter-class constraints. The intra-class constraints are to constrain an intra-class distance between sample image features of a sample target and a class center of a class to which the sample target belongs, and the inter-class constraints are to constrain inter-class distances between class centers of different classes, and/or inter-class angles between the class centers of different classes.

公开(公告)号：US20240135579A1

公开(公告)日：2024-04-25

申请号：US18380086

申请日：2023-10-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kan WANG ,  Shuping Hu ,  Jianxin Pang ,  Huan Tan

IPC: G06T7/73 ,  G06V10/77 ,  G06V10/774 ,  G06V10/776 ,  G06V10/82 ,  G06V40/10

CPC classification number: G06T7/74 ,  G06V10/7715 ,  G06V10/774 ,  G06V10/776 ,  G06V10/82 ,  G06V40/10 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30196 ,  G06V20/52

Abstract: A method for obtaining a feature extraction model, a method for human fall detection and a terminal device are provided. The method for human fall detection includes: inputting a human body image into a feature extraction model for feature extraction to obtain a target image feature; in response to a distance between the target image feature and a pre-stored mean value of standing category image features being greater than or equal to a preset distance threshold, determining that the human body image is a human falling image; and in response to the distance being less than the preset distance threshold, determining that the human body image is a human standing image. The feature extraction model is obtained based on constraint training to aggregate standing category image features and separate falling category image features from the standing category image features.

公开(公告)号：US11940774B2

公开(公告)日：2024-03-26

申请号：US17115735

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G05B19/408 ,  G05B19/4155 ,  G06F18/214 ,  G06F18/22 ,  G06N3/08 ,  G06V10/764 ,  G06V20/10 ,  G06V20/64 ,  G06V40/20

CPC classification number: G05B19/4086 ,  G05B19/4155 ,  G06F18/214 ,  G06F18/22 ,  G06N3/08 ,  G06V10/764 ,  G06V20/10 ,  G06V20/647 ,  G06V40/20 ,  G05B2219/33027 ,  G05B2219/50391

Abstract: The present disclosure provides action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting at least a two-dimensional image of a to-be-imitated object; obtaining two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and a pairing relationship between the key points of the to-be-imitated object; converting the two-dimensional coordinates of the key points of the to-be-imitated object in the two-dimensional image into space three-dimensional coordinates corresponding to the key points of the to-be-imitated object through a pre-trained first neural network model, and generating an action control instruction of a robot based on the space three-dimensional coordinates corresponding to the key points of the to-be-imitated object and the pairing relationship between the key points, where the action control instruction is for controlling the robot to imitate an action of the to-be-imitated object.

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.