公开(公告)号：US20220139027A1

公开(公告)日：2022-05-05

申请号：US17216719

申请日：2021-03-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Luo ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06T15/20 ,  G06K9/00 ,  G06F30/20 ,  G06N3/08

Abstract: A scene data obtaining method as well as a model training method and a computer readable storage medium using the same are provided. The method includes: building a virtual simulation scene corresponding to an actual scene, where the virtual simulation scene is three-dimensional; determining a view frustum corresponding to preset view angles in the virtual simulation scene; collecting one or more two-dimensional images in the virtual simulation scene and ground truth object data associated with the one or more two-dimensional images using the view frustum corresponding to the preset view angles; and using all the two-dimensional images and the ground truth object data associated with the one or more two-dimensional images as scene data corresponding to the actual scene. In this manner, the data collection does not require manual annotation, and the obtained data can be used for training deep learning-based perceptual models.

公开(公告)号：US11285613B2

公开(公告)日：2022-03-29

申请号：US16699132

申请日：2019-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Youjun Xiong ,  Longbiao Bai ,  Simin Zhang ,  Jianxin Pang

IPC: G06T7/73 ,  B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.

公开(公告)号：US11260529B2

公开(公告)日：2022-03-01

申请号：US16584968

申请日：2019-09-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Zhang ,  Youjun Xiong ,  Zhichao Liu ,  Longbiao Bai ,  Chenchen Jiang ,  Simin Zhang ,  Hongjian Liu ,  Zhanjia Bi ,  Yongsheng Zhao ,  Jianxin Pang

IPC: G05B19/23 ,  G05D1/02 ,  B25J9/16

Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

公开(公告)号：US11232289B2

公开(公告)日：2022-01-25

申请号：US16817554

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jun Cheng ,  Kui Guo ,  Jing Gu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06T5/00 ,  G06K9/62

Abstract: The present disclosure provides a face identification method and a terminal device using the same. The method includes: obtaining a to-be-detected image; performing a brightness enhancement process on the to-be-detected image based on a preset second calculation method to generate a to-be-identified face image; obtaining a first channel value of each channel corresponding to each pixel in the to-be-identified face image; performing another brightness enhancement process on the to-be-identified face image based on each first channel value and a preset first calculation method to obtain a target to-be-identified face image; and performing a face identification process on the target to-be-identified face image to obtain an identification result. Through the above-mentioned scheme, an enhanced face identification manner for the images of low brightness is provided.

公开(公告)号：US20220009096A1

公开(公告)日：2022-01-13

申请号：US17138942

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Liqun Huang ,  Xiaoyu Ran ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  G06F17/16

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

公开(公告)号：US11194465B2

公开(公告)日：2021-12-07

申请号：US16699744

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liming Zhu ,  Youjun Xiong

IPC: G06F3/0488 ,  G06T1/60 ,  H05B45/20 ,  G06F3/0484

Abstract: The present disclosure provides a robot eye lamp control method as well as an apparatus and a terminal device using the same. The method includes: loading a simulation image corresponding to an cut shape of the eye lamp of the robot onto a display interface of a terminal device remotely connected with the robot; detecting a color setting instruction issued to each color block area in the simulation image by a user, and generating combined parameter information comprising each color value in response to having received a color confirmation instruction issued by the user, and transmitting the combined parameter information to the robot so that the robot performs a light control on the eye lamp based on the combined parameter information. The present disclosure guarantees that the robot will respond to an interactive instruction only when the light display effect and the actual demand of the user matches.

公开(公告)号：US11185983B2

公开(公告)日：2021-11-30

申请号：US16713012

申请日：2019-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Lifu Zhang ,  Wenhua Fan ,  Hanyu Sun ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  H02P29/00 ,  H02P23/00

Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.

公开(公告)号：US20210334524A1

公开(公告)日：2021-10-28

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: G06K9/00 ,  G06T7/64 ,  G06T7/73 ,  H04N1/60 ,  G06K9/62 ,  G06T5/00 ,  G06K9/46 ,  G06T7/90 ,  G06K9/20

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：US11059173B2

公开(公告)日：2021-07-13

申请号：US16236518

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jianxin Pang ,  Lifu Zhang ,  Wenhua Fan ,  Dong Liu

IPC: B25J9/16

Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.

公开(公告)号：US11059170B2

公开(公告)日：2021-07-13

申请号：US16359965

申请日：2019-03-20

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Gaobo Huang ,  Hailang Zhou ,  Musen Zhang

IPC: B25J9/16 ,  B25J9/12

Abstract: The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.