公开(公告)号：US20250124557A1

公开(公告)日：2025-04-17

申请号：US18805567

申请日：2024-08-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XILAI SONG ,  Pei Dong ,  Jianxin Pang

IPC: G06T7/00 ,  G06T5/40

Abstract: An image quality assessing method, an electronic device, and a computer-readable storage medium are provided. The method includes: obtaining a to-be-assessed original image; obtaining a grayscale image and a histogram equalization image corresponding to the obtained original image by performing an image conversion on the original image; calculating an image similarity between the obtained grayscale image and the obtained histogram equalization image; and determining an image quality assessment result of the original image according to the calculated image similarity. Through the forgoing method, the original image can be converted to obtain the corresponding grayscale image and histogram equalization image, and the image quality assessment result of the original image can be determined according to the image similarity between the grayscale image and the histogram equalization image, which does not involve statistics and calculations of multiple feature indicators, and is helpful to improve the efficiency of the image quality assessment method.

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：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：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：US11599118B2

公开(公告)日：2023-03-07

申请号：US17137429

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/02 ,  B62D57/032

Abstract: A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.

公开(公告)号：US11474204B2

公开(公告)日：2022-10-18

申请号：US16699765

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhichao Liu ,  Jian Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: G01S7/48 ,  G01S17/931 ,  G06K9/62

Abstract: The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.

公开(公告)号：US11418023B2

公开(公告)日：2022-08-16

申请号：US16535112

申请日：2019-08-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Sheng Zhou ,  Malin Wang ,  Wenhua Fan ,  Jianxin Pang

IPC: H02H9/02 ,  G01R33/07 ,  G01R33/00

Abstract: A current protection circuit for a high voltage system includes: a power supply module to supply power to a load through a high voltage bus and a low voltage bus; a detection module connected to the high voltage bus and used to detect a value of current flowing through the high voltage bus; a signal processing module electrically connected to the detection module and used to amplify the current flowing through the high voltage bus; and a control module electrically connected to the signal processing module, the power supply module, and the load, and used to disconnect the load from the power supply module or perform current limiting for the load when the value of the amplified current exceeds a preset threshold.

公开(公告)号：US20220198224A1

公开(公告)日：2022-06-23

申请号：US17510415

申请日：2021-10-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hanliu Wang ,  Jun Cheng ,  Jianxin Pang

IPC: G06K9/62 ,  G06K9/00 ,  G06K9/32 ,  G06K9/20 ,  G06N3/04

Abstract: A backlight face recognition method, a terminal device using the same, and a computer readable storage medium are provided. The method includes: performing a face detection on each original face image in an original face image sample set to obtain a face frame corresponding to the original face image; capturing the corresponding original face images from the original face image sample set, and obtaining a new face image containing background pixels corresponding to the captured original face images from the original face image sample set; preprocessing all the obtained new face images to obtain a backlight sample set and a normal lighting sample set; and training a convolutional neural network using the backlight sample set and the normal lighting sample set until the convolutional neural network reaches a preset stopping condition. The trained convolutional neural network will improve the accuracy of face recognition in complex background and strong light.

公开(公告)号：US20220068109A1

公开(公告)日：2022-03-03

申请号：US17138944

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Yepeng Liu ,  Jun Cheng ,  Jianxin Pang ,  Youjun Xiong

IPC: G08B21/18 ,  G06K9/00 ,  G06T7/70

Abstract: A mask wearing status alarming method, a mobile device, and a computer readable storage medium are provided. The method includes: performing a face detection on an image to determine face areas each including a target determined as a face; determining a mask wearing status of the target in each face area; confirming the mask wearing status of the target in each face area using a trained face confirmation model to remove the face areas comprising the target being mistakenly determined as the face and determining a face pose in each of the remaining face areas to remove the face areas with the face pose not meeting a preset condition, in response to determining the mask wearing status as a not-masked-well status or a unmasked status; and releasing an alert corresponding to the mask wearing status of the target in each of the remaining face areas.

公开(公告)号：US11170528B2

公开(公告)日：2021-11-09

申请号：US16548868

申请日：2019-08-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Wanli Zhang ,  Jianxin Pang

IPC: G06T7/73 ,  G06T7/90 ,  G06T7/246

Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.