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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.
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公开(公告)号：USD966383S1
公开(公告)日：2022-10-11
申请号：US29797052
申请日：2021-06-29
Designer： Francisco Jose Hernandez , Brandon Jon LaPlante , Shixun Chen , Jiexin Cai , ChengKun Zhang , Huan Tan
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公开(公告)号：USD966382S1
公开(公告)日：2022-10-11
申请号：US29796579
申请日：2021-06-25
Designer： Shixun Chen , Jianchi Xiong , ChengKun Zhang , Huan Tan
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公开(公告)号：US11461958B2
公开(公告)日：2022-10-04
申请号：US17216719
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xi Luo , Mingguo Zhao , Youjun Xiong
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.
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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
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.
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Patent Agency Ranking
公开(公告)号：US20220206499A1
公开(公告)日：2022-06-30
申请号：US17134219
申请日：2020-12-25
Inventor： Dejun Guo , Kang-Hao Peng , Dan Shao , Yang Shen , Huan Tan
IPC: G05D1/02
Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.
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47.发明申请公开(公告)号：US20220203526A1
公开(公告)日：2022-06-30
申请号：US17504544
申请日：2021-10-19
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie BAI , Ligang GE , Yizhang LIU , Youjun XIONG
Abstract: A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.
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48.发明申请公开(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
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.
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公开(公告)号：US20220193899A1
公开(公告)日：2022-06-23
申请号：US17488341
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
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公开(公告)号：US20220175609A1
公开(公告)日：2022-06-09
申请号：US17467461
申请日：2021-09-07
Inventor： Houzhu Ding , Chengkun Zhang , Zhen Xiu , Huan Tan
Abstract: A robotic assistant includes a base; an elevation mechanism positioned on the base; a display rotatably mounted on the elevation mechanism; a camera positioned on the display; and a control system that receives command instructions. In response to the command instructions, the control system is to detect movement of a face of the user in a vertical direction based on the images captured by the camera. In response to detection of the movement of the face of the user in the vertical direction, the control system is to rotate the display and actuate the elevation mechanism to the move the display up and down to allow the camera to face the face of the user during the movement of the face of the user in the vertical direction.
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