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：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：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：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

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

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：US20210166416A1

公开(公告)日：2021-06-03

申请号：US17107860

申请日：2020-11-30

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G06T7/73 ,  B25J9/16 ,  G06T7/12 ,  G06T7/50

Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.