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公开(公告)号：US11373443B2
公开(公告)日：2022-06-28
申请号：US17105667
申请日：2020-11-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yue Wang , Jun Cheng , Yepeng Liu , Yusheng Zeng , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a method and an apparatus for face recognition and a computer readable storage medium. The method includes: inputting a to-be-recognized blurry face image into a generator of a trained generative adversarial network to obtain a to-be-recognized clear face image; inputting the to-be-recognized clear face image to the feature extraction network to obtain a facial feature of the to-be-recognized clear face image; matching the facial feature of the to-be-recognized clear face image with each user facial feature in a preset facial feature database to determine the user facial feature best matching the to-be-recognized clear face image as a target user facial feature; and determining a user associated with the target user facial feature as a recognition result. Through this solution, the accuracy of the recognition of blurry faces can be improved.
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公开(公告)号：US20220156534A1
公开(公告)日：2022-05-19
申请号：US17389380
申请日：2021-07-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yonghui Cai , Jun Cheng , Jianxin Pang , Youjun Xiong
Abstract: A target object detection model is provided. The target object detection model includes a YOLOv3-Tiny model. Through the target object detection model, low-level information in the YOLOv3-Tiny sub-model can be merged with high-level information therein, so as to fuse the low-level information and the high-level information. Since the low-level information can be further used, the comprehensiveness of target detection is effectively improved, and the detection effect of small targets is improved.
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公开(公告)号：US20220067354A1
公开(公告)日：2022-03-03
申请号：US17463500
申请日：2021-08-31
Applicant: UBTECH Robotics Corp Ltd
Inventor： Chi Shao , Miaochen Guo , Jun Cheng , Jianxin Pang
Abstract: A dynamic gesture recognition method includes: performing detection on each frame of image of a video stream using a preset static gesture detection model to obtain a static gesture in each frame of image of the video stream; in response to detection of a change of the static gesture from a preset first gesture to a second gesture, suspending the static gesture detection model and activating a preset dynamic gesture detection model; and performing detection on multiple frames of images that are pre-stored in a storage medium using the dynamic gesture detection model to obtain a dynamic gesture recognition result.
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公开(公告)号：US11230001B2
公开(公告)日：2022-01-25
申请号：US16572637
申请日：2019-09-17
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Jianxin Pang
IPC: B25J9/00 , B25J13/08 , B25J9/16 , B62D57/032
Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.
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公开(公告)号：US20210331753A1
公开(公告)日：2021-10-28
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
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.
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Patent Agency Ranking
公开(公告)号：US20210197909A1
公开(公告)日：2021-07-01
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 , B25J17/00 , B25J13/08
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.
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公开(公告)号：US20210187731A1
公开(公告)日：2021-06-24
申请号：US16817576
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： ZECAI LIN , Zhaohui An , Yizhang Liu , Mekhui Zhang , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.
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公开(公告)号：US20210183116A1
公开(公告)日：2021-06-17
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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公开(公告)号：US20210181765A1
公开(公告)日：2021-06-17
申请号：US17114526
申请日：2020-12-08
Applicant: Ubtech Robotics Corp Ltd
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
IPC: G05D1/08 , B62D57/02 , G05D1/02 , G05B19/4155
Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.
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公开(公告)号：US20210178587A1
公开(公告)日：2021-06-17
申请号：US17120225
申请日：2020-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Hongge Wang , Youjun Xiong , Jianxin Pang
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: A robot control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a motion trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of a left leg and a right leg of the robot; and controlling the robot to move according to the joint angles.
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