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公开(公告)号：US11636779B2
公开(公告)日：2023-04-25
申请号：US16677698
申请日：2019-11-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yanhui Zhang , Youjun Xiong
Abstract: The present disclosure is provides a method, an apparatus and a terminal device for constructing parts together. The method includes: determining an assembly progress of an object constructed of parts; determining a currently required part according to the assembly progress; identifying, in a part photo of the object, the currently required part using a pre-trained first neural network model and marking the one or more identified currently required parts in the part photo; and displaying, via a display, a 3D demonstration animation with the marked part photo as a background image. The method is based on the existing 3D demonstration animation, which identifies the currently required part in the captured part photo and marks the identified currently required part in the part photo, and then displays the marked part photo as the background image of the 3D demonstration animation, thereby adding a prompt for the real part.
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公开(公告)号：US11631192B2
公开(公告)日：2023-04-18
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
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.
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公开(公告)号：US11602848B2
公开(公告)日：2023-03-14
申请号：US17120229
申请日：2020-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang , Youjun Xiong
Abstract: A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position 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; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.
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公开(公告)号：US11595490B2
公开(公告)日：2023-02-28
申请号：US17230762
申请日：2021-04-14
Inventor： Kang-Hao Peng , Dejun Guo , Huan Tan
IPC: H04L67/55 , H04L9/40 , H04L67/00 , H04L67/025
Abstract: Embodiments of the disclosure provide methods and systems for implementing a function for an application using a middleware on a computer. An exemplary method may include initializing an application node in the middleware corresponding to the application, the initializing comprising binding the function to the application node and associating the application node with a cryptor, connecting the middleware to a remote device through a transport layer using the cryptor, publishing a message to invoke the function from the application node, through the middleware, to the cryptor, and communicating with the remote device to invoke the function, using the cryptor, based on the message.
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公开(公告)号：US11593974B2
公开(公告)日：2023-02-28
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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Patent Agency Ranking
公开(公告)号：US11580299B2
公开(公告)日：2023-02-14
申请号：US16886826
申请日：2020-05-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Li Ma , Youjun Xiong
IPC: G06F40/242 , G06N20/00 , G06F40/289 , G06N7/00
Abstract: The present disclosure provides a corpus cleaning method and a corpus entry system. The method includes: obtaining an input utterance; generating a predicted value of an information amount of each word in the input utterance according to the context of the input utterance using a pre-trained general model; and determining redundant words according to the predicted value of the information amount of each word, and determining whether to remove the redundant words from the input utterance. In such a manner, the objectivity and accuracy of corpus cleaning can be improved.
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公开(公告)号：US20230030837A1
公开(公告)日：2023-02-02
申请号：US17386531
申请日：2021-07-27
Inventor： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
Abstract: A human-object scene recognition method includes: acquiring an input RGB image and a depth image corresponding to the RGB image; detecting objects and humans in the RGB image using a segmentation classification algorithm based on a sample database; in response to detection of objects and/or humans, performing a segment detection to each of the detected objects and/or humans based on the ROB image and the depth image, and acquiring a result of the segment detection; calculating 3D hounding boxes for each of the detected objects and/or humans according to the result of the segment detection, and determining a position of each of the detected objects and/or humans according to the 3D bounding boxes.
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公开(公告)号：US20230026074A1
公开(公告)日：2023-01-26
申请号：US17385843
申请日：2021-07-26
Inventor： Matthew Keith Xi-Jie Pan , Dan Shao , Chuqiao Dong , Zhen Xiu , Huan Tan
Abstract: Response methods to human abnormal behaviors for a mobility aid robot having a user-facing camera are disclosed. The mobility aid robot responds to human abnormal behaviors by detecting a face of a human during the robot aiding the human to move through the camera, comparing an initial size of the face and an immediate size of the face in response to the face of the human having detected during the robot aiding the human to move, determining the human as in abnormal behavior(s) in response to the immediate size of the face being smaller than the initial size of the face, and performing response(s) corresponding to the abnormal behavior(s) in response to the human being in the abnormal behavior(s), where the response(s) include slowing down the robot.
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公开(公告)号：US11550335B2
公开(公告)日：2023-01-10
申请号：US16753408
申请日：2018-11-28
Applicant: UBTECH ROBOTICS CORP.
Inventor： Youjun Xiong , Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang
IPC: B62D57/032 , G05D1/02
Abstract: The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.
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公开(公告)号：US20230004740A1
公开(公告)日：2023-01-05
申请号：US17364806
申请日：2021-06-30
Inventor： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
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.
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