公开(公告)号：US11285613B2

公开(公告)日：2022-03-29

申请号：US16699132

申请日：2019-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Youjun Xiong ,  Longbiao Bai ,  Simin Zhang ,  Jianxin Pang

IPC: G06T7/73 ,  B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.

公开(公告)号：US11260529B2

公开(公告)日：2022-03-01

申请号：US16584968

申请日：2019-09-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Zhang ,  Youjun Xiong ,  Zhichao Liu ,  Longbiao Bai ,  Chenchen Jiang ,  Simin Zhang ,  Hongjian Liu ,  Zhanjia Bi ,  Yongsheng Zhao ,  Jianxin Pang

IPC: G05B19/23 ,  G05D1/02 ,  B25J9/16

Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

公开(公告)号：US11232289B2

公开(公告)日：2022-01-25

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

IPC: G06K9/00 ,  G06T5/00 ,  G06K9/62

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.

公开(公告)号：US11185983B2

公开(公告)日：2021-11-30

申请号：US16713012

申请日：2019-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Lifu Zhang ,  Wenhua Fan ,  Hanyu Sun ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  H02P29/00 ,  H02P23/00

Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.

公开(公告)号：US20210334524A1

公开(公告)日：2021-10-28

申请号：US17118578

申请日：2020-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Miaochen Guo ,  Jingtao Zhang ,  Shuping Hu ,  Dong Wang ,  Zaiwang Gu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/00 ,  G06T7/64 ,  G06T7/73 ,  H04N1/60 ,  G06K9/62 ,  G06T5/00 ,  G06K9/46 ,  G06T7/90 ,  G06K9/20

Abstract: 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.

公开(公告)号：US20210200190A1

公开(公告)日：2021-07-01

申请号：US17115735

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Miaochen Guo ,  Jingtao Zhang ,  Dong Wang ,  Shuping Hu ,  Jianxin Pang ,  Youjun Xiong

IPC: G05B19/4155 ,  G06N3/08 ,  G06K9/62 ,  G06K9/00

Abstract: 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.

公开(公告)号：US20210199183A1

公开(公告)日：2021-07-01

申请号：US16941579

申请日：2020-07-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LIANG HUANG ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

IPC: F16H21/54 ,  B25J9/12 ,  B25J17/00

Abstract: 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.

公开(公告)号：US20210197379A1

公开(公告)日：2021-07-01

申请号：US17115712

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

Abstract: 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.

公开(公告)号：US20210190513A1

公开(公告)日：2021-06-24

申请号：US16843923

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: G01C21/32 ,  G05D1/02

Abstract: 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.

公开(公告)号：US20210181748A1

公开(公告)日：2021-06-17

申请号：US17120232

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G05D1/02 ,  G01L5/16 ,  B62D57/02 ,  G05B19/4155

Abstract: 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.