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公开(公告)号：US20230133207A1
公开(公告)日：2023-05-04
申请号：US17513917
申请日：2021-10-29
发明人： Sheryl Suet Ying Chau , Yang Shen , Chengkun Zhang , Huan Tan
摘要： A touch sensing method and a serial manipulator using the same are disclosed. A serial manipulator using the method may detect and localize external torques by obtaining a torque value of each joint of a serial manipulator through a torque sensor at the joint; obtaining a preset joint angle of each joint from the serial manipulator; calculating a Jacobian matrices of the serial manipulator based on the joint angle of the joints; estimating joint torques of the serial manipulator based on the torque value of each joint and the Jacobian matrices; calculating an error between the torque value of each joint and the estimated joint torque corresponding to the joint; and determining a link of the serial manipulator that is connected to the joint with the minimum calculated error as having been touched.
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公开(公告)号：US11595490B2
公开(公告)日：2023-02-28
申请号：US17230762
申请日：2021-04-14
发明人： Kang-Hao Peng , Dejun Guo , Huan Tan
IPC分类号： H04L67/55 , H04L9/40 , H04L67/00 , H04L67/025
摘要： Embodiments of the disclosure provide methods and systems for implementing a function for an application using a middleware on a computer. An exemplary method may include initializing an application node in the middleware corresponding to the application, the initializing comprising binding the function to the application node and associating the application node with a cryptor, connecting the middleware to a remote device through a transport layer using the cryptor, publishing a message to invoke the function from the application node, through the middleware, to the cryptor, and communicating with the remote device to invoke the function, using the cryptor, based on the message.
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公开(公告)号：US20230030837A1
公开(公告)日：2023-02-02
申请号：US17386531
申请日：2021-07-27
发明人： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
摘要： A human-object scene recognition method includes: acquiring an input RGB image and a depth image corresponding to the RGB image; detecting objects and humans in the RGB image using a segmentation classification algorithm based on a sample database; in response to detection of objects and/or humans, performing a segment detection to each of the detected objects and/or humans based on the ROB image and the depth image, and acquiring a result of the segment detection; calculating 3D hounding boxes for each of the detected objects and/or humans according to the result of the segment detection, and determining a position of each of the detected objects and/or humans according to the 3D bounding boxes.
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公开(公告)号：US20230026074A1
公开(公告)日：2023-01-26
申请号：US17385843
申请日：2021-07-26
发明人： Matthew Keith Xi-Jie Pan , Dan Shao , Chuqiao Dong , Zhen Xiu , Huan Tan
摘要： Response methods to human abnormal behaviors for a mobility aid robot having a user-facing camera are disclosed. The mobility aid robot responds to human abnormal behaviors by detecting a face of a human during the robot aiding the human to move through the camera, comparing an initial size of the face and an immediate size of the face in response to the face of the human having detected during the robot aiding the human to move, determining the human as in abnormal behavior(s) in response to the immediate size of the face being smaller than the initial size of the face, and performing response(s) corresponding to the abnormal behavior(s) in response to the human being in the abnormal behavior(s), where the response(s) include slowing down the robot.
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公开(公告)号：US20230004740A1
公开(公告)日：2023-01-05
申请号：US17364806
申请日：2021-06-30
发明人： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
摘要： Human lying posture detections are disclosed. A human lying on a bed is detected by obtaining an image through a depth camera, detecting objects in the image and marking the objects in the image using 2D bounding boxes by deep learning, determining the human being in a lying posture in response to a width and a height of the 2D bounding box of the human meeting a predetermined condition, detecting one or more skin areas in the image and generating skin area 2D bounding boxes to mark each of the one or more skin areas using a skin detection algorithm, and determining the human being in the lying posture in response to the skin area 2D bounding boxes and the 2D bounding box of the bed meeting a predetermined positional relationship.
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公开(公告)号：US20230004739A1
公开(公告)日：2023-01-05
申请号：US17364743
申请日：2021-06-30
发明人： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
摘要： Human posture determination is disclosed. Human posture is determined by obtaining range image(s) through a range camera, detecting key points of an estimated skeleton of a human in color data of the range image(s) and calculating positions of the detected key points based on depth data of the range image(s), choosing a feature map from a set of predefined feature maps based on the detected key points among a set of predefined key points, obtaining two features of a body of the human corresponding to the chosen feature map based on the positions of the detected key points, and determining a posture of the human according to the two features in the chosen feature map.
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7.发明申请公开(公告)号：US20220409469A1
公开(公告)日：2022-12-29
申请号：US17528158
申请日：2021-11-16
发明人： Yang Shen , Armen Gardabad Ohanian , Zhen Xiu , Muhammed Rasid Pac , Chengkun Zhang , Huan Tan
IPC分类号： A61H3/04 , A63B21/005
摘要： A method for controlling a robotic walking assistant that includes a wheeled base having one or more wheels, two handles and a foldable seat that are coupled to the wheeled base, includes: detecting whether two hands of a user have held the two handles of the robotic walking assistant; receiving a command from the user to select an operation mode in response to detection of the two hands holding the two handles; controlling the wheeled base to move in response to a walking assistive mode being selected; providing resistance to at least one of the one or more wheels according to selection of the user, in response to a walking training mode being selected; and locking the one or more wheels in response to a static training mode being selected.
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公开(公告)号：US20220343530A1
公开(公告)日：2022-10-27
申请号：US17239697
申请日：2021-04-26
发明人： Dan Shao , Dejun Guo , Zhen Xiu , Chuqiao Dong , Huan Tan
摘要： On-floor obstacle detection using an RGB-D camera is disclosed. An obstacle on a floor is detected by receiving an image including depth channel data and RGB channel data through the RGB-D camera, estimating a ground plane corresponding to the floor based on the depth channel data, obtaining a foreground of the image corresponding to the ground plane based on the depth channel data, performing a distribution modeling on the foreground of the image based on the RGB channel data to obtain a 2D location of the obstacle, and transforming the 2D location of the obstacle into a 3D location of the obstacle based on the depth channel data.
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公开(公告)号：US11554071B2
公开(公告)日：2023-01-17
申请号：US17467461
申请日：2021-09-07
发明人： Houzhu Ding , Chengkun Zhang , Zhen Xiu , Huan Tan
摘要： A robotic assistant includes a base; an elevation mechanism positioned on the base; a display rotatably mounted on the elevation mechanism; a camera positioned on the display; and a control system that receives command instructions. In response to the command instructions, the control system is to detect movement of a face of the user in a vertical direction based on the images captured by the camera. In response to detection of the movement of the face of the user in the vertical direction, the control system is to rotate the display and actuate the elevation mechanism to the move the display up and down to allow the camera to face the face of the user during the movement of the face of the user in the vertical direction.
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公开(公告)号：US20220382293A1
公开(公告)日：2022-12-01
申请号：US17334834
申请日：2021-05-31
发明人： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
摘要： Carpet detection using an RGB-D camera and mobile machine movement control based thereon are disclosed. Carpets and carpet curls are detected by obtaining a RGB-D image pair including an RGB image and a depth image through an RGB-D camera, detecting carpet and carpet-curl areas in the RGB image and generating a 2D bounding box to mark each area using a deep learning model, and generating groups of carpet and carpet-curt points corresponding to each of the carpet and carpet-curl areas by matching each pixel of the RGB image within each 2D bounding box corresponding to the carpet and carpet curl areas to each pixel in the depth image.
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