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81.发明申请公开(公告)号：US20210334524A1
公开(公告)日：2021-10-28
申请号：US17118578
申请日：2020-12-10
发明人： Miaochen Guo , Jingtao Zhang , Shuping Hu , Dong Wang , Zaiwang Gu , Jianxin Pang , Youjun Xiong
IPC分类号： G06K9/00 , G06T7/64 , G06T7/73 , H04N1/60 , G06K9/62 , G06T5/00 , G06K9/46 , G06T7/90 , G06K9/20
摘要： The present disclosure provides a gesture recognition method as well as a terminal device and a computer-readable storage medium using the same. The method includes: obtaining a video stream collected by an image recording device in real time; performing a hand recognition on the video stream to determine static gesture information of a recognized hand in each video frame of the video stream; encoding the static gesture information in the video frames of the video stream in sequence to obtain an encoded information sequence of the recognized hands; and performing a slide detection on the encoded information sequence using a preset sliding window to determine a dynamic gesture category of each recognized hand. In this manner, static gesture recognition and dynamic gesture recognition are effectively integrated in the same process. The dynamic gesture recognition is realized through the slide detection of the sliding window without complex network calculations.
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公开(公告)号：US20210200190A1
公开(公告)日：2021-07-01
申请号：US17115735
申请日：2020-12-08
发明人： Miaochen Guo , Jingtao Zhang , Dong Wang , Shuping Hu , Jianxin Pang , Youjun Xiong
IPC分类号： G05B19/4155 , G06N3/08 , G06K9/62 , G06K9/00
摘要： The present disclosure provides action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting at least a two-dimensional image of a to-be-imitated object; obtaining two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and a pairing relationship between the key points of the to-be-imitated object; converting the two-dimensional coordinates of the key points of the to-be-imitated object in the two-dimensional image into space three-dimensional coordinates corresponding to the key points of the to-be-imitated object through a pre-trained first neural network model, and generating an action control instruction of a robot based on the space three-dimensional coordinates corresponding to the key points of the to-be-imitated object and the pairing relationship between the key points, where the action control instruction is for controlling the robot to imitate an action of the to-be-imitated object.
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公开(公告)号：US20210199183A1
公开(公告)日：2021-07-01
申请号：US16941579
申请日：2020-07-29
发明人： LIANG HUANG , Hongyu Ding , Jianxin Pang , Youjun Xiong
摘要： A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.
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公开(公告)号：US20210197379A1
公开(公告)日：2021-07-01
申请号：US17115712
申请日：2020-12-08
发明人： Dake Zheng , Yizhang Liu , Zheng Xie , Jianxin Pang , Youjun Xiong
IPC分类号： B25J9/16 , G05B19/4155
摘要： The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.
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公开(公告)号：US20210190513A1
公开(公告)日：2021-06-24
申请号：US16843923
申请日：2020-04-09
发明人： Yongsheng Zhao , Zhichao Liu , Jianxin Pang , Youjun Xiong
摘要： The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.
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公开(公告)号：US20210181748A1
公开(公告)日：2021-06-17
申请号：US17120232
申请日：2020-12-13
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong , Jianxin Pang
IPC分类号： G05D1/02 , G01L5/16 , B62D57/02 , G05B19/4155
摘要： A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.
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公开(公告)号：US20210181747A1
公开(公告)日：2021-06-17
申请号：US17113132
申请日：2020-12-07
发明人： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
摘要： A robot climbing control method is disclosed. A gravity direction vector in a gravity direction in a camera coordinate system of a robot is obtained. A stair edge of stairs in a scene image is obtained and an edge direction vector of the stair edge in the camera coordinate system is determined. A position parameter of the robot relative to the stairs is determined according to the gravity direction vector and the edge direction vector. Poses of the robot are adjusted according to the position parameter to control the robot to climb the stairs.
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88.发明申请公开(公告)号：US20210146538A1
公开(公告)日：2021-05-20
申请号：US16734393
申请日：2020-01-05
发明人： Zecai Lin , Zhaohui An , Zheng Xie , Yizhang Liu , Youjun Xiong , Jianxin Pang
摘要： 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.
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公开(公告)号：US20210107577A1
公开(公告)日：2021-04-15
申请号：US16724413
申请日：2019-12-23
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Xianwei Su , Zheng Xie , Youjun Xiong , Jianxin Pang
摘要： The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.
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公开(公告)号：US20200206945A1
公开(公告)日：2020-07-02
申请号：US16556233
申请日：2019-08-30
发明人： Youjun Xiong , Jianxin Pang , Wanli Zhang , Jingtao Zhang
摘要： 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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