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公开(公告)号：US20200209365A1
公开(公告)日：2020-07-02
申请号：US16396693
申请日：2019-04-28
Applicant: Ubtech Robotics Corp Ltd
Inventor： Yongsheng Zhao , Youjun Xiong , Zhichao Liu , Jianxin Pang
Abstract: The present disclosure provides a laser data calibration method and robot using the same. The method includes: obtaining a pose of a movable device; determining a pose of the lidar based on the pose of the movable device and a transformation relationship between the movable device and the lidar: determining an instantaneous speed of the lidar based on the pose of the lidar at two adjacent time points; determining a delay time of an collection time of one frame of raw laser data obtained through the lidar by scanning for one round with respect to an collection time of a first raw laser data: and obtaining a calibration data of the raw laser data based on the instantaneous speed, tire delay time, and the raw laser data. Through the above-mentioned method, the calibration of the raw laser data can be realized.
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公开(公告)号：US20200206959A1
公开(公告)日：2020-07-02
申请号：US16709927
申请日：2019-12-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youpeng Li , Youjun Xiong , Hongyu Ding , Meichun Liu , Jianxin Pang
Abstract: A robotic arm assembly includes a main body, a number of servos arranged within the main body, each of which has an output shaft, and a rotary connection member connected to the output shaft of one of the servos at a first end of the main body. The rotary connection member defines a through hole allows cables to pass therethrough.
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公开(公告)号：US20200206935A1
公开(公告)日：2020-07-02
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: The present disclosure provides a servo calibration method as well as an apparatus and a robot using the same. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Through the present disclosure, the problem in the prior art that the process of the calibration is cumbersome can be solved.
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公开(公告)号：US20200164511A1
公开(公告)日：2020-05-28
申请号：US16236521
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Hanyu Sun , Xi Bai , Jianxin Pang
Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.
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公开(公告)号：US20200161803A1
公开(公告)日：2020-05-21
申请号：US16445243
申请日：2019-06-19
Applicant: Ubtech Robotics Corp Ltd
Inventor： Youjun Xiong , Wenhua Fan , Jianxin Pang
Abstract: An electronic building block includes a first side and a second side, a first magnet fixed to the first side and including a number of first magnet segments, a second magnet fixed to the second side and including a number of second magnet segments, a first power contact, a second power contact and a first communication contact arranged on the first side; and a third power contact, a fourth power contact and a second communication contact arranged on the second side and respectively coming into contact with the first power contact, the second power contact, and the first communication contact when the first magnet segments of one of two electronic building blocks is connected to the second magnet segments of the other of two electronic building blocks.
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Patent Agency Ranking
公开(公告)号：US10384352B1
公开(公告)日：2019-08-20
申请号：US16233131
申请日：2018-12-27
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Kunlei Zhao , Wenhua Yu , Qi Zhao , Jiawen Hu , Yangyu Pi , Jianxin Pang
Abstract: A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a rotating member that is rotatable with respect to the phalanx portion, a rope having two opposite ends respectively connected to one phalanx and the rotating member, a rotating cam driven by a driving device and having a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction, and an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction.
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公开(公告)号：US12277801B2
公开(公告)日：2025-04-15
申请号：US17566734
申请日：2021-12-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chenghao Qian , Miaochen Guo , Jun Cheng , Jianxin Pang
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.
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公开(公告)号：US20240331173A1
公开(公告)日：2024-10-03
申请号：US18603100
申请日：2024-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： BAIYU PAN , Jianxin Pang
CPC classification number: G06T7/50 , G06V10/7715 , G06V10/82 , G06T2207/20228
Abstract: A method for binocular depth estimation is provided, including: obtaining binocular images and performing feature extraction on the binocular images to obtain left and right feature mappings; performing disparity construction by using the left and right feature mappings to obtain a disparity cost volume with a reduced dimension; performing attention feature learning on the disparity cost volume to obtain an attention feature vector and performing feature weighting on the disparity cost volume by using the attention feature vector to obtain a weighted cost volume; performing disparity regression on the weighted cost volume based on a two-dimensional convolution to obtain a prediction disparity map; and performing disparity depth conversion on the prediction disparity map to obtain a depth map of the binocular images.
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公开(公告)号：US11850747B2
公开(公告)日：2023-12-26
申请号：US17112569
申请日：2020-12-04
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Miaochen Guo , Jun Cheng , Jingtao Zhang , Shuping Hu , Dong Wang , Jianxin Pang , Youjun Xiong
CPC classification number: B25J9/161 , B25J9/1697 , B25J19/023 , G06N3/08
Abstract: The present disclosure provides an action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting a plurality of action images of a to-be-imitated object; processing the action images through a pre-trained convolutional neural network to obtain a position coordinate set of position coordinates of a plurality of key points of each of the action images; calculating a rotational angle of each of the linkages of the to-be-imitated object based on the position coordinate sets of the action images; and controlling a robot to move according to the rotational angle of each of the linkages of the to-be-imitated object. In the above-mentioned manner, the rotational angle of each linkage of the to-be-imitated object can be obtained by just analyzing and processing the images collected by an ordinary camera without the help of high-precision depth camera.
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80.发明公开公开(公告)号：US20230386244A1
公开(公告)日：2023-11-30
申请号：US18078027
申请日：2022-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： SHUPING HU , Kan Wang , Huan Tan , Jianxin Pang
IPC: G06V40/10 , G06V10/776 , G06V10/74
CPC classification number: G06V40/103 , G06V10/776 , G06V10/761
Abstract: A person re-identification method, a storage medium, and a terminal device are provided. In the method, a preset ratio-based triplet loss function is used as a loss function during training The ratio-based triplet loss function limits a ratio of a positive sample feature distance to a negative sample feature distance to be less than a preset ratio threshold. The positive sample feature distance is a distance between a reference image feature and a positive sample image feature, and the negative sample feature distance is a distance between the reference image feature and a negative sample image feature. Compared with the existing absolute distance-based triplet loss function, in the case of small inter-class differences and large intra-class differences, the ratio-based triplet loss function can effectively improve the stability of model training, the features extracted by the trained model are more discriminative and robust, thereby improving the accuracy of person re-identification results.
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