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1.发明授权公开(公告)号：US12293457B2
公开(公告)日：2025-05-06
申请号：US18220835
申请日：2023-07-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Tiecheng Sun , Jichao Jiao
Abstract: A method includes: performing semantic segmentation on an RGBD image to obtain a semantic label of each pixel of the image; performing reconstruction of a point cloud based on the image and mapping the semantic label of each pixel of the image into the point cloud to respectively obtain a semantic point cloud of a current frame with the semantic labels and a three-dimensional scene semantic map with the semantic labels; generating two-dimensional discrete semantic feature points for each of three-dimensional semantic point clouds in the current frame and the semantic map to obtain a corresponding two-dimensional semantic feature point image, and performing a three-dimensional semantic feature description on each feature point in the two-dimensional semantic feature point image; and performing feature matching on all feature points in the current frame and all feature points in the semantic map to obtain positioning information based on the three-dimensional semantic feature description.
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公开(公告)号：US12253615B2
公开(公告)日：2025-03-18
申请号：US18088755
申请日：2022-12-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yu Tang , Mingqiang Huang , Dunhao Liu , Tiecheng Sun , Jichao Jiao
IPC: G01S5/02
Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.
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公开(公告)号：US12179364B2
公开(公告)日：2024-12-31
申请号：US17566726
申请日：2021-12-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Dake Zheng , Yizhang Liu , Jianxin Pang , Huan Tan , Youjun Xiong
IPC: B25J9/16
Abstract: A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.
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公开(公告)号：US12115673B2
公开(公告)日：2024-10-15
申请号：US18052535
申请日：2022-11-03
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： Yizhang Líu , Youjun Xiong , Xianwen Zeng , Zhihao Zhang , Meihui Zhang , Chunyu Chen
CPC classification number: B25J9/1666 , B25J9/163
Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.
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公开(公告)号：US20240290097A1
公开(公告)日：2024-08-29
申请号：US18427775
申请日：2024-01-30
Applicant: UBTech Robotics Corp Ltd
Inventor： Kan Wang , Jianxin Pang , Huan Tan
CPC classification number: G06V20/46 , G06V10/761 , G06V10/7715 , G06V10/82 , G06V20/48
Abstract: A method for extracting video features may include: obtaining a target video sequence that comprises a number of video frames; performing video frame feature extraction on the target video sequence to obtain video frame features of each of the video frames; performing feature weight calculation on each of the video frame features to obtain the feature weight of each of the video frame features; wherein the feature weight of each of the video frame features is determined by the video frame features of all of the video frames in the target video sequence; and performing feature weighting on each of the video frame features according to the feature weight of each of the video frame features to obtain video features of the target video sequence.
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Patent Agency Ranking
公开(公告)号：USD1035182S1
公开(公告)日：2024-07-09
申请号：US29832729
申请日：2022-03-29
Applicant: UBTECH ROBOTICS CORP LTD
Designer： Mingming Ji , Xinshui Huang , Kun Yang
Abstract: FIG. 1 is a first perspective view of an automatic cat litter box showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof; and,
FIG. 8 is a bottom plan view thereof.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.-
公开(公告)号：US20240221345A1
公开(公告)日：2024-07-04
申请号：US18533199
申请日：2023-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kan Wang , Jiaxin Pang , Huan Tan
IPC: G06V10/42 , G06V10/77 , G06V10/774 , G06V10/82 , G06V40/10
CPC classification number: G06V10/42 , G06V10/7715 , G06V10/774 , G06V10/82 , G06V40/10
Abstract: A method for pedestrian body part feature extraction is provided, including: performing global feature extraction on a target pedestrian image to obtain a global feature map; learning each of body parts in the global feature map using a self-produced supervision signals-based self-regulated channel attention model to output first channel attention vectors each describing a respective one of the body parts; weighting the first channel attention vectors with the global feature map to obtain a weighted feature map describing the body parts; and extracting body part features of the target pedestrian image from the weighted feature map.
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公开(公告)号：US20240181633A1
公开(公告)日：2024-06-06
申请号：US18075450
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： XIANWEN ZENG , Yizhang Liu , Xuan Luo , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1607 , B25J9/1612 , B25J9/1633 , B25J9/1653 , B25J9/1664
Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter, obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.
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公开(公告)号：US11996112B2
公开(公告)日：2024-05-28
申请号：US17084672
申请日：2020-10-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ruotong Wang , Zhichao Tang , Dongyan Huang , Jiebin Xie , Zhiyuan Zhao , Yang Liu , Youjun Xiong
CPC classification number: G10L21/013 , G06N20/00 , G10L19/02 , G10L25/03 , G10L25/27 , G10L2021/0135
Abstract: The present disclosure discloses a voice conversion method. The method includes: obtaining a to-be-converted voice, and extracting acoustic features of the to-be-converted voice; obtaining a source vector corresponding to the to-be-converted voice from a source vector pool, and selecting a target vector corresponding to the target voice from the target vector pool; obtaining acoustic features of the target voice output by the voice conversion model by using the acoustic features of the to-be-converted voice, the source vector corresponding to the to-be-converted voice, and the target vector corresponding to the target voice as an input of the voice conversion model; and obtaining the target voice by converting the acoustic features of the target voice using a vocoder. In addition, a voice conversion apparatus and a storage medium are also provided.
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公开(公告)号：US11983916B2
公开(公告)日：2024-05-14
申请号：US17463523
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Zhanjia Bi , Yongsheng Zhao
IPC: G06V10/75
CPC classification number: G06V10/751 , G06V10/759
Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.
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