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公开(公告)号：US20230004739A1
公开(公告)日：2023-01-05
申请号：US17364743
申请日：2021-06-30
Inventor： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
Abstract: Human posture determination is disclosed. Human posture is determined by obtaining range image(s) through a range camera, detecting key points of an estimated skeleton of a human in color data of the range image(s) and calculating positions of the detected key points based on depth data of the range image(s), choosing a feature map from a set of predefined feature maps based on the detected key points among a set of predefined key points, obtaining two features of a body of the human corresponding to the chosen feature map based on the positions of the detected key points, and determining a posture of the human according to the two features in the chosen feature map.
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262.发明申请公开(公告)号：US20220409469A1
公开(公告)日：2022-12-29
申请号：US17528158
申请日：2021-11-16
Inventor： Yang Shen , Armen Gardabad Ohanian , Zhen Xiu , Muhammed Rasid Pac , Chengkun Zhang , Huan Tan
IPC: A61H3/04 , A63B21/005
Abstract: A method for controlling a robotic walking assistant that includes a wheeled base having one or more wheels, two handles and a foldable seat that are coupled to the wheeled base, includes: detecting whether two hands of a user have held the two handles of the robotic walking assistant; receiving a command from the user to select an operation mode in response to detection of the two hands holding the two handles; controlling the wheeled base to move in response to a walking assistive mode being selected; providing resistance to at least one of the one or more wheels according to selection of the user, in response to a walking training mode being selected; and locking the one or more wheels in response to a static training mode being selected.
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263.发明申请公开(公告)号：US20220379480A1
公开(公告)日：2022-12-01
申请号：US17678037
申请日：2022-02-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Youjun Xiong , Yizhang Liu , Qiuyue Luo , Ligang Ge , Jie Bai , Jiangchen Zhou
IPC: B25J9/16 , B62D57/032
Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.
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公开(公告)号：US11511437B2
公开(公告)日：2022-11-29
申请号：US16923069
申请日：2020-07-07
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Marten Byl , Chengkun Zhang , Raymond Ma , Muhammed Rasid Pac , Huan Tan , Youjun Xiong
IPC: B25J11/00 , B25J5/00 , B65G1/02 , B65G61/00 , B25J9/16 , B25J9/10 , B25J9/12 , B25J19/00 , B25J9/00 , B25J19/02 , G05D1/02
Abstract: A wheeled base includes a housing, two driven wheeled mechanisms positioned on a bottom of the housing and on opposite sides of the housing, at least one passive wheel positioned on the bottom of the housing, actuated feet positioned on the bottom of the housing and configured to move up and down, sensors, and a battery pack arranged within the housing. The two driven wheeled mechanisms each includes a damping mechanism, and each damping mechanism includes at least two dampers configured to absorb impact caused by an upward movement of the housing, and absorb impact caused by a downward movement of the housing.
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公开(公告)号：US20220375106A1
公开(公告)日：2022-11-24
申请号：US17866574
申请日：2022-07-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Zaiwang Gu , Jianxin Pang
Abstract: A method includes: performing target detection on a current image to obtain detection information of a plurality of detected targets; obtaining position prediction information of each of a plurality of tracked targets and a number of times of tracking losses of targets from tracking information of each of the tracked targets, and determining a first matching threshold for each of the tracked targets according to the number of times of tracking losses of targets; calculating a motion matching degree between each of the tracked targets and each of the detected targets according to the position detection information and the position prediction information; for each of the tracked targets, obtaining a motion matching result according to the motion matching degree and the first matching threshold corresponding to the tracked target; and matching the detected targets and the tracked targets according to the motion matching results to obtain a tracking result.
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Patent Agency Ranking
266.发明申请公开(公告)号：US20220362929A1
公开(公告)日：2022-11-17
申请号：US17868790
申请日：2022-07-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yijie Guo , Mingguo Zhao , Youjun Xiong
IPC: B25J9/16
Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.
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公开(公告)号：US11501082B2
公开(公告)日：2022-11-15
申请号：US16734389
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Li Ma , Weixing Xiong , Youjun Xiong
IPC: G06F40/30 , G06F16/31 , G06F16/35 , G06F40/205
Abstract: The present disclosure provides a sentence generation method as well as a sentence generation apparatus and a smart device. The method includes: obtaining an input sentence; searching for structurally similar sentence(s) of each input sentence, where the structurally similar sentence(s) are structurally similar to the input sentence; finding semantically similar sentence(s) of the structurally similar sentence(s); parsing the input sentence and the structurally similar sentence(s) to obtain a subject block, a predicate block, and an object block to rewrite the semantically similar sentences to generate a new sentence; filtering the new sentence based on a preset filtering condition; and labeling the filtered new sentence as a semantically similar sentence of the input sentence. In this manner, a plurality of new sentences with different sentence patterns can be generated based on the same input sentence, which improves the controllability in generating the sentences and saves the labor cost therein.
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公开(公告)号：US11498227B2
公开(公告)日：2022-11-15
申请号：US16709931
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yongsheng Zhao , Zhichao Liu , Youjun Xiong
Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.
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269.发明申请公开(公告)号：US20220358297A1
公开(公告)日：2022-11-10
申请号：US17870813
申请日：2022-07-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Li Ma
IPC: G06F40/58 , G06F16/332 , G06F16/33 , G06F40/47
Abstract: A method includes: acquiring an input sentence in a first language in a current round of conversation; translating the input sentence in the first language to obtain an input sentence in a second language, according to dialogue contents in the first language and dialogue contents in the second language that have a mutual translation relationship with the dialogue contents in the first language in historical rounds of conversation; invoking a multi-round conversation generation model to parse the input sentence in the second language in the current round of conversation to generate an output sentence in the second language in the current round of conversation; translating the output sentence in the second language in the current round of conversation to obtain at least one candidate result in the first language; and determining an output sentence in the first language from the at least one candidate result in the first language.
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公开(公告)号：US20220343530A1
公开(公告)日：2022-10-27
申请号：US17239697
申请日：2021-04-26
Inventor： Dan Shao , Dejun Guo , Zhen Xiu , Chuqiao Dong , Huan Tan
Abstract: On-floor obstacle detection using an RGB-D camera is disclosed. An obstacle on a floor is detected by receiving an image including depth channel data and RGB channel data through the RGB-D camera, estimating a ground plane corresponding to the floor based on the depth channel data, obtaining a foreground of the image corresponding to the ground plane based on the depth channel data, performing a distribution modeling on the foreground of the image based on the RGB channel data to obtain a 2D location of the obstacle, and transforming the 2D location of the obstacle into a 3D location of the obstacle based on the depth channel data.
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