Patents Assigned to UBKANG (QINGDAO) TECHNOLOGY CO., LTD.
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Patent number: 11992946Abstract: A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided.Type: GrantFiled: December 16, 2021Date of Patent: May 28, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Yizhang Liu, Youjun Xiong, Xuan Luo, Xianwen Zeng, Ligang Ge, Chunyu Chen
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Patent number: 11989908Abstract: A visual positioning method and a mobile machine using the same are provided. The method includes: extracting a plurality of corner feature points corresponding to a current image; determining whether a distance between each pair of the plurality of corner feature points is less than a first preset threshold; if yes, determining whether a grayscale value of each of the plurality of corner feature points with the distance less than the first preset threshold is within a second preset threshold range; if yes, obtaining cluster set(s) of the corner feature points; screening a plurality of valid feature points from the cluster set(s); determining a positioning reliability based on a ratio of amount of the valid feature points to an amount of the plurality of corner feature points; and if the positioning reliability is within a preset range, performing a visual positioning based on the positioning reliability.Type: GrantFiled: September 29, 2021Date of Patent: May 21, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Rui Guo, Zhanjia Bi, Youjun Xiong
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Patent number: 11983921Abstract: 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.Type: GrantFiled: July 26, 2021Date of Patent: May 14, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Matthew Keith Xi-Jie Pan, Dan Shao, Chuqiao Dong, Zhen Xiu, Huan Tan
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Patent number: 11931885Abstract: 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.Type: GrantFiled: October 29, 2021Date of Patent: March 19, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Sheryl Suet Ying Chau, Yang Shen, Chengkun Zhang, Huan Tan
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Patent number: 11933615Abstract: ETA (estimated time of arrival) calculation for a mobile machine is disclosed. The ETA of the mobile machine to a destination is calculated by obtaining a current pose of the mobile machine, obtaining a global path from the current pose of the mobile machine to the destination, obtaining a local path, calculating a dynamic ETA for each pair of the consecutive poses in the local path and summing the calculated dynamic ETAs, calculating a baseline ETA for each pair of consecutive poses from a pose in the global path that is closest to the last pose in the local path to the last pose in the global path and summing the calculated baseline ETAs, and obtaining a total ETA to the destination based on the dynamic ETA and the baseline ETA.Type: GrantFiled: January 26, 2021Date of Patent: March 19, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Kang-Hao Peng, Dejun Guo, huan Tan, Yang Shen
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Patent number: 11918537Abstract: 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.Type: GrantFiled: November 16, 2021Date of Patent: March 5, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Yang Shen, Armen Gardabad Ohanian, Zhen Xiu, Muhammed Rasid Pac, Chengkun Zhang, Huan Tan
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Patent number: 11865724Abstract: Image-based trajectory planning for a mobile machine having a camera is disclosed. A trajectory for the mobile machine to move to a referenced target is planned by obtaining, a desired image of the referenced target captured at a desired pose of the trajectory and an initial image of the referenced target captured at an initial pose of the trajectory through the camera of the mobile machine, calculating a homography of the desired image and the initial image; decomposing the homography into an initial translation component and an initial rotation matrix, obtaining optimized translation component(s) corresponding to constraint(s) for the mobile machine based on the initial translation component, obtaining optimized homography(s) based on the optimized translation component(s) and the initial rotation matrix, and obtaining objective image features corresponding to the trajectory based on the optimized homography(s).Type: GrantFiled: April 26, 2021Date of Patent: January 9, 2024Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Dejun Guo, Huan Tan
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Patent number: 11854255Abstract: 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.Type: GrantFiled: July 27, 2021Date of Patent: December 26, 2023Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Chuqiao Dong, Dan Shao, Zhen Xiu, Dejun Guo, Huan Tan
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Patent number: 11766775Abstract: A design method of serial manipulator that comprises an end effector, a number of random-access links, and a number of motors, includes: obtaining a desired motion profile of the end effector; discretizing the desired motion profile into a plurality of points, wherein each of the points carries information of speed, acceleration, and force/torque of the end effector at the point; determining the number of degrees of freedom of the serial manipulator, and initializing the length of each of the links and the motor type of each of the motors; and at each of the points, optimizing the initialized lengths of the links and the motor types of the motors by calculating a dynamic manipulability ellipsoid at the end effector, to obtain desired lengths of the links and desired motor types of the motors, which allows the end effector to execute the desired motion profile under predetermined constraints.Type: GrantFiled: May 20, 2021Date of Patent: September 26, 2023Assignee: UBKang (Qingdao) Technology Co., Ltd.Inventors: Yang Shen, Dejun Guo, ChengKun Zhang, Huan Tan
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Patent number: 11595490Abstract: 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.Type: GrantFiled: April 14, 2021Date of Patent: February 28, 2023Assignee: UBKANG (QINGDAO) TECHNOLOGY CO., LTD.Inventors: Kang-Hao Peng, Dejun Guo, Huan Tan