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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
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.
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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
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.
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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
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.
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64.发明授权公开(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
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.
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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.
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Patent Agency Ranking
66.发明申请公开(公告)号：US20210192184A1
公开(公告)日：2021-06-24
申请号：US16805827
申请日：2020-03-01
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yusheng Zeng , Jianxin Pang , Youjun Xiong
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.
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公开(公告)号：US20210182633A1
公开(公告)日：2021-06-17
申请号：US17012016
申请日：2020-09-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenchen Jiang , Zhichao Liu , Yongsheng Zhao , Yu Tang , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.
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公开(公告)号：US20210154853A1
公开(公告)日：2021-05-27
申请号：US16734400
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGGE WANG , Ligang Ge , Yizhang Liu , Jie Bai , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robot motion control method as well as an apparatus and a robot using the same. The method includes: obtaining geometric parameter(s) of a target step, where the geometric parameters comprise a step width and a step height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate based on the geometric parameters; generating a motion trajectory by fitting the at least two time-displacement coordinates and the corresponding velocity vectors; and controlling feet of the robot to move based on the motion trajectory. In this manner, the feet of the robot can be prevented from colliding violently with the step during going up the step so as to improve the safety and stability.
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公开(公告)号：US20210154835A1
公开(公告)日：2021-05-27
申请号：US16734402
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： HONGJIAN LIU , Zhichao Liu , Jian Zhang , Simin Zhang , Yun Zhao , Youjun Xiong , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.
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公开(公告)号：US20210056295A1
公开(公告)日：2021-02-25
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
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.
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