-
公开(公告)号：US12243242B2
公开(公告)日：2025-03-04
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.
-
公开(公告)号：US20220189208A1
公开(公告)日：2022-06-16
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.
-
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.
-
公开(公告)号：US11636712B2
公开(公告)日：2023-04-25
申请号：US17463500
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chi Shao , Miaochen Guo , Jun Cheng , Jianxin Pang
IPC: G06V40/20 , G06V10/94 , G06V20/40 , G06V10/62 , G06V10/82 , G06V40/10 , G06N3/08 , G06F18/21 , G06F18/20 , G06F18/214
Abstract: A dynamic gesture recognition method includes: performing detection on each frame of image of a video stream using a preset static gesture detection model to obtain a static gesture in each frame of image of the video stream; in response to detection of a change of the static gesture from a preset first gesture to a second gesture, suspending the static gesture detection model and activating a preset dynamic gesture detection model; and performing detection on multiple frames of images that are pre-stored in a storage medium using the dynamic gesture detection model to obtain a dynamic gesture recognition result.
-
公开(公告)号：US20210197384A1
公开(公告)日：2021-07-01
申请号：US16843921
申请日：2020-04-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Miaochen Guo , Yizhang Liu , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.
-
Patent Agency Ranking
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.
-
7.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.
-
公开(公告)号：US20220067354A1
公开(公告)日：2022-03-03
申请号：US17463500
申请日：2021-08-31
Applicant: UBTECH Robotics Corp Ltd
Inventor： Chi Shao , Miaochen Guo , Jun Cheng , Jianxin Pang
Abstract: A dynamic gesture recognition method includes: performing detection on each frame of image of a video stream using a preset static gesture detection model to obtain a static gesture in each frame of image of the video stream; in response to detection of a change of the static gesture from a preset first gesture to a second gesture, suspending the static gesture detection model and activating a preset dynamic gesture detection model; and performing detection on multiple frames of images that are pre-stored in a storage medium using the dynamic gesture detection model to obtain a dynamic gesture recognition result.
-
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.
-
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.
-
-
-
-
-
-
-
-
-
Search Results
17
records
(took 0.024 seconds)
