公开(公告)号：US20240290096A1

公开(公告)日：2024-08-29

申请号：US18422046

申请日：2024-01-25

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G06V20/40 ,  G06V10/77 ,  G06V10/80

CPC classification number: G06V20/46 ,  G06V10/7715 ,  G06V10/806

Abstract: A method for extracting video frame features includes: obtaining a number of initial features of each video frame in a video sequence; calculating global channel attention information of the video sequence based on the initial features of each video frame in the video sequence; calculating local channel attention information of a target video frame according to initial features of a target video frame; wherein the target video frame is one of the video frames in the video sequence; and performing channel attention mechanism processing on the initial features of the target video frame according to the global channel attention information and the local channel attention information to obtain optimized features of the target video frame.

公开(公告)号：US12070856B2

公开(公告)日：2024-08-27

申请号：US17557076

申请日：2021-12-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongge Wang ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Xingxing Ma ,  Jiangchen Zhou

IPC: B25J9/16 ,  B62D57/02 ,  G05B19/41 ,  G05B19/4155

CPC classification number: B25J9/1605 ,  B25J9/1633 ,  B62D57/022 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A robot balance control method as well as a robot using the same and a computer readable storage medium are provided. In the method, a brand new flywheel model different from the existing flywheel model is created. In this flywheel model, the foot of the support leg of the robot is equivalent to the massless link of the flywheel model, while rest parts of the robot are equivalent to the flywheel of the flywheel model. Compared with the various models in the prior art, this flywheel model is more in line with the actual situation of the robot during the monoped supporting period. By controlling the posture of the foot of the support leg based on this flywheel model, a better balance effect can be achieved, which avoids the overturning of the robot.

公开(公告)号：US12051263B2

公开(公告)日：2024-07-30

申请号：US17364806

申请日：2021-06-30

Applicant: Futronics (NA) Corporation ,  UBTECH ROBOTICS CORP LTD

Inventor： Chuqiao Dong ,  Dan Shao ,  Zhen Xiu ,  Dejun Guo ,  Huan Tan

IPC: G06T7/11 ,  G06T7/187 ,  G06T7/40 ,  G06T7/73 ,  G06V10/764 ,  G06V40/10

CPC classification number: G06V40/103 ,  G06T7/11 ,  G06T7/40 ,  G06T7/73 ,  G06T2207/10028

Abstract: Human lying posture detections are disclosed. A human lying on a bed is detected by obtaining an image through a depth camera, detecting objects in the image and marking the objects in the image using 2D bounding boxes by deep learning, determining the human being in a lying posture in response to a width and a height of the 2D bounding box of the human meeting a predetermined condition, detecting one or more skin areas in the image and generating skin area 2D bounding boxes to mark each of the one or more skin areas using a skin detection algorithm, and determining the human being in the lying posture in response to the skin area 2D bounding boxes and the 2D bounding box of the bed meeting a predetermined positional relationship.

公开(公告)号：US11969890B2

公开(公告)日：2024-04-30

申请号：US17584398

申请日：2022-01-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ziyi Wang ,  Guoping Yang ,  Hao Dong

IPC: B25J9/16 ,  G05B15/02 ,  H04L67/125

CPC classification number: B25J9/161 ,  G05B15/02 ,  H04L67/125

Abstract: A control method and a control system using the same as are provided. The method includes: extracting a corresponding component data from a component data stream based on an application protocol registered by each of a plurality of applications and encapsulating a corresponding application data packet for the application in response to receiving the component data stream in a current control period; transmitting the corresponding application data packet to each of the applications; obtaining control data reported by each of the applications according to data reporting timing corresponding to the application; and generating a component control instruction for controlling each of the components according to the control data reported by each of the applications in the current control period and the application protocol registered by the application. In this manner, the orderly control of a smart devices within a limited control period can be achieved.

公开(公告)号：US11945528B2

公开(公告)日：2024-04-02

申请号：US17134147

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/02 ,  B62D57/032

CPC classification number: B62D57/032

Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.

公开(公告)号：US20240085913A1

公开(公告)日：2024-03-14

申请号：US18517006

申请日：2023-11-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Simin Zhang ,  Youjun Xiong

IPC: G05D1/02 ,  G01C21/00 ,  G05D1/00

CPC classification number: G05D1/0212 ,  G01C21/3841 ,  G05D1/0011

Abstract: A robot autonomous operation method, a robot, and a computer-readable storage medium are provided. The method includes: moving the robot, under a control of a user, along a guide path in an operation scene; generating a map including the guide path by positioning and mapping during the robot being moved along the guide path in the operation scene; generating a plurality of operation points on the guide path in the map; generating an operation path, wherein the operation path passes through all of the unpassed operation points and has a shortest total distance; and moving the robot, according to the operation path, to each of the unpassed operation points so as to perform an operation. In this manner, it controls the robot to explore the guide path in the operation scene by manual guiding, which can improve the exploration efficiency and reduce the risk of exploring unknown operation scenes.

公开(公告)号：US11926052B2

公开(公告)日：2024-03-12

申请号：US17133575

申请日：2020-12-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/032 ,  G05D1/00

CPC classification number: B25J9/163 ,  B25J9/162 ,  B25J9/1664 ,  B62D57/032 ,  G05D1/02

Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.

公开(公告)号：US20240025038A1

公开(公告)日：2024-01-25

申请号：US18373991

申请日：2023-09-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yisen HU ,  Hao Dong ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/10 ,  B62D57/032

CPC classification number: B25J9/163 ,  B25J9/1664 ,  B25J9/106 ,  B25J9/161 ,  B25J9/1607 ,  B62D57/032

Abstract: A robot control method, a legged robot using the same, and a computer-readable storage medium are provided. The method includes: obtaining a motion parameter of a driving mechanism of a target part of the robot; and obtaining an end pose of the target part by processing the motion parameter of the driving mechanism according to a preset forward kinematics solving model, where the forward kinematics solving model is a neural network model trained by a preset training sample set constructed according to a preset inverse kinematics function relationship. In this manner, a complex forward kinematics solving process can be transformed into a relatively simple inverse kinematics solving process and neural network model processing process, which reduces the computational complexity, shortens the computational time, thereby meeting the demand for real-time control of the robot.

公开(公告)号：US11875599B2

公开(公告)日：2024-01-16

申请号：US17393408

申请日：2021-08-04

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Yepeng Liu ,  Jun Cheng ,  Jianxin Pang ,  Jing Gu

IPC: G06V40/16 ,  G06V10/46 ,  G06V10/98 ,  G06N3/08 ,  G06F18/214 ,  G06F18/2431 ,  G06N3/045

CPC classification number: G06V40/161 ,  G06F18/214 ,  G06F18/2431 ,  G06N3/045 ,  G06N3/08 ,  G06V10/462 ,  G06V10/993

Abstract: A method for detecting blurriness of a human face in an image includes: performing a face detection in a target image; when a human face is detected in the target image, cropping the human face from the target image to obtain a face image and inputting the face image to a first neural network model to perform preliminary detection on a blurriness of the human face in the face image to obtain a preliminary detection result; and when the preliminary detection result meets a deep detection condition, inputting the face image to a second neural network model to perform deep detection on the blurriness of the human face in the face image to obtain a deep detection result.

公开(公告)号：US11872701B2

公开(公告)日：2024-01-16

申请号：US17485412

申请日：2021-09-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  G05D2201/0217

Abstract: A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.