公开(公告)号：US11579624B2

公开(公告)日：2023-02-14

申请号：US16935234

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Chenchen Jiang ,  Kun Xie ,  Zhichao Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/00 ,  G05D1/02 ,  G06T7/579

Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).

公开(公告)号：US11447196B2

公开(公告)日：2022-09-20

申请号：US16708464

申请日：2019-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youpeng Li ,  Youjun Xiong ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

IPC: B62D57/032 ,  B25J9/10 ,  B25J18/00

Abstract: A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.

公开(公告)号：US11420694B2

公开(公告)日：2022-08-23

申请号：US16452532

申请日：2019-06-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jianxin Pang

IPC: B62D57/032

Abstract: The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feet of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.

公开(公告)号：US20220189208A1

公开(公告)日：2022-06-16

申请号：US17566734

申请日：2021-12-31

Applicant: UBTech Robotics Corp Ltd

Inventor： Chenghao Qian ,  Miaochen Guo ,  Jun Cheng ,  Jianxin Pang

IPC: G06V40/20 ,  G06F3/01 ,  G06V10/82 ,  G06T11/20

Abstract: A gesture recognition method includes: acquiring a target image containing a gesture to be recognized; inputting the target image to a gesture recognition model that has a first sub-model, a second sub-model, and a third sub-model, the first sub-model is to determine a gesture category and a gesture center point, the second sub-model is to determine an offset of the gesture center point, and the third sub-model is to determine a length and a width of a bounding box for the gesture to be recognized; acquiring an output result from the gesture recognition model, the output result includes the gesture category, the gesture center point, and the offset of the gesture center point, and the length and the width of the bounding box; and determining the gesture category and a position of the bounding box of the gesture to be recognized according to the output result.

公开(公告)号：US11331802B2

公开(公告)日：2022-05-17

申请号：US16734393

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Zheng Xie ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

公开(公告)号：US11325247B2

公开(公告)日：2022-05-10

申请号：US16817576

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Yizhang Liu ,  Meihui Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/06

Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.

公开(公告)号：US11287828B2

公开(公告)日：2022-03-29

申请号：US16427362

申请日：2019-05-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Longbiao Bai ,  Youjun Xiong ,  Zhichao Liu ,  Hongjian Liu ,  Zhanjia Bi ,  Jianxin Pang

IPC: G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/20

Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle image of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.

公开(公告)号：US11279045B2

公开(公告)日：2022-03-22

申请号：US16556233

申请日：2019-08-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Jianxin Pang ,  Wanli Zhang ,  Jingtao Zhang

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02

Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.

公开(公告)号：US11126824B2

公开(公告)日：2021-09-21

申请号：US16805827

申请日：2020-03-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yusheng Zeng ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/40 ,  G06K9/00 ,  G06T7/136 ,  G06T7/11

Abstract: The present disclosure provides a face image quality evaluating method as well as an apparatus and a computer-readable storage medium using the same. The method includes: obtaining a face image; determining a local bright area in the face image, wherein the local bright area is formed by an illumination source in the face image, and the brightness of the local bright area is greater than the brightness of a face area in the face image; removing the local bright area from the face image; and evaluating a quality of the face image based on the face image having removed the local bright area. In the above-mentioned manner, the present disclosure improves the accuracy of the quality evaluation of the face image.

公开(公告)号：US20210197370A1

公开(公告)日：2021-07-01

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 ,  G05D1/02 ,  B62D57/032

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.