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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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公开(公告)号：US11631192B2
公开(公告)日：2023-04-18
申请号：US17107860
申请日：2020-11-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.
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公开(公告)号：US20220375106A1
公开(公告)日：2022-11-24
申请号：US17866574
申请日：2022-07-18
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Zaiwang Gu , Jianxin Pang
Abstract: A method includes: performing target detection on a current image to obtain detection information of a plurality of detected targets; obtaining position prediction information of each of a plurality of tracked targets and a number of times of tracking losses of targets from tracking information of each of the tracked targets, and determining a first matching threshold for each of the tracked targets according to the number of times of tracking losses of targets; calculating a motion matching degree between each of the tracked targets and each of the detected targets according to the position detection information and the position prediction information; for each of the tracked targets, obtaining a motion matching result according to the motion matching degree and the first matching threshold corresponding to the tracked target; and matching the detected targets and the tracked targets according to the motion matching results to obtain a tracking result.
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4.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
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.
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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
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.
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Patent Agency Ranking
公开(公告)号：US20210181747A1
公开(公告)日：2021-06-17
申请号：US17113132
申请日：2020-12-07
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
Abstract: 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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公开(公告)号：US11644841B2
公开(公告)日：2023-05-09
申请号：US17113132
申请日：2020-12-07
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
CPC classification number: G05D1/0212 , B62D57/02 , G05D1/0231 , G06T1/0014 , G06T7/13 , G06T7/73
Abstract: 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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公开(公告)号：US11940774B2
公开(公告)日：2024-03-26
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: G05B19/408 , G05B19/4155 , G06F18/214 , G06F18/22 , G06N3/08 , G06V10/764 , G06V20/10 , G06V20/64 , G06V40/20
CPC classification number: G05B19/4086 , G05B19/4155 , G06F18/214 , G06F18/22 , G06N3/08 , G06V10/764 , G06V20/10 , G06V20/647 , G06V40/20 , G05B2219/33027 , G05B2219/50391
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.
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9.发明授权公开(公告)号：US11423701B2
公开(公告)日：2022-08-23
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: G06K9/62 , G06V40/20 , G06T7/73 , H04N1/60 , G06T5/00 , G06T7/90 , G06T7/64 , G06V10/22 , G06V10/56 , G06V20/40
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.
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公开(公告)号：US20210166416A1
公开(公告)日：2021-06-03
申请号：US17107860
申请日：2020-11-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.
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