Abstract: The present disclosure provides a path tracking method as well as a mobile robot using the same. The method includes: obtaining a preset path and a current position of the mobile device; determining a forward-looking path point corresponding to the current position on the preset path; obtaining a path curvature corresponding to the forward-looking path point; and determining an adjustment velocity of the mobile device at the current position based on the path curvature corresponding to the forward-looking path point. In this manner, the adjustment velocity of the mobile device can be determined based on the curvature of the path, so as to adjust the velocity of the mobile device and improve the stability of path tracking of the mobile device at different path curvatures.

Abstract: The present disclosure provides a robot visual image feature extraction method as well as an apparatus and a robot using the same. The method includes: collecting image data through visual sensor(s) of the robot, and collecting angular velocity data through inertial sensor(s) of the robot; calculating a relative pose between image frames in the image data based on the angular velocity data; extracting feature points of the first image frame in the image data; calculating a projection position of each feature point of the k-th image frame in the k+1-th image frame based on a relative pose between the k-th image frame and the k+1-th image frame; and searching for each feature point in the projection position in the k+1-th image frame, and performing a synchronous positioning and a mapping based on the searched feature point. In this manner, the feature points of dynamic objects are eliminated.

Abstract: The present disclosure provides an obstacle detection method as well as an apparatus and a robot using the same. The method includes: obtaining, through the sensor module, image(s); detecting an obstacle image of an obstacle from the image(s) according to characteristic(s) of the obstacle; extracting image feature(s) of the obstacle; obtaining, through the sensor module, a position of the obstacle; associating the image feature(s) of the obstacle with the position of the obstacle; calculating a motion state a the obstacle based on the position information of the obstacle at different moments; and estimating the position of the obstacle in a detection blind zone of the robot based on the motion state. In such a manner, it is capable of providing more accurate position information of the obstacle in the detection blind zone, which is beneficial to the robot to plan a safe and fast moving path.

Abstract: The present disclosure discloses a voice conversion training method. The method includes: forming a first training data set including a plurality of training voice data groups; selecting two of the training voice data groups from the first training data set to input into a voice conversion neural network for training; forming a second training data set including the first training data set and a first source speaker voice data group; inputting one of the training voice data groups selected from the first training data set and the first source speaker voice data group into the network for training; forming the third training data set including the second source speaker voice data group and the personalized voice data group that are parallel corpus with respect to each other; and inputting the second source speaker voice data group and the personalized voice data group into the network for training.

Abstract: A computer-implemented method for utterance generation, a smart device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a first utterance to be answered, generating at least one random semantic vector, inputting the at least one random semantic vector and the first utterance into a trained generator, and obtaining at least one first answer outputted by the trained generator, wherein the trained generator is obtained based on a preset generative adversarial network. Due to the random semantic vector, even for the same utterance, the smart device can generate different answers corresponding to the different random semantic vectors, the possibility of generating too many identical answers during the human-machine conversation is reduced, and the fun during the human-machine conversation is enhanced.

Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.

Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.

Abstract: An localization correction method for a robot, comprising acquiring first position information of the robot in a first coordinate system; acquiring second position information of the robot in a second coordinate system after the robot executes a motion command; establishing a transformation model between the first position information and the second position information based on the first coordinate system and the second coordinate system; calculating a compensation value according to the transformation model; and generating a reset command according to the compensation value, and adjusting the localization of the robot according to the reset command.

Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

Abstract: The present disclosure relates to an object trajectory tracking and displaying method, comprising the following steps of: creating a mapping relationship database of image features and WIFI information for objects in a distributed search server, where each WIFI information includes position information; receiving a trajectory query request for a monitored object; searching the mapping relationship database of image features and WIFI information for objects according to an image feature of the monitored object to produce a WIFI information set, and producing a corresponding position information set based on the WIFI information set; and generating real-time trajectory information of the monitored object based on the position information set. The object trajectory tracking and displaying method and system of the present disclosure make the position of the sampling data points more accurate and improve the accuracy of trajectory querying.

Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.

Abstract: The present disclosure provides a face identification method and a terminal device using the same. The method includes: obtaining a to-be-detected image; performing a brightness enhancement process on the to-be-detected image based on a preset second calculation method to generate a to-be-identified face image; obtaining a first channel value of each channel corresponding to each pixel in the to-be-identified face image; performing another brightness enhancement process on the to-be-identified face image based on each first channel value and a preset first calculation method to obtain a target to-be-identified face image; and performing a face identification process on the target to-be-identified face image to obtain an identification result. Through the above-mentioned scheme, an enhanced face identification manner for the images of low brightness is provided.

Abstract: A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.

Abstract: A charging module for use with a charging station that includes a first connector, includes a housing, a second connector, and a guide structure configured to guide the first connector in a vertical direction. The guide structure includes a guiding member fixed to the second connector, or a guiding mechanism that elastically connects the second connector to the housing and allows the second connector to move with respect to the housing in the vertical direction.

Abstract: A robotic arm assembly includes a main body, a number of servos arranged within the main body, each of which has an output shaft, and a rotary connection member connected to the output shaft of one of the servos at a first end of the main body. The rotary connection member defines a through hole allows cables to pass therethrough.

Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.

Abstract: The present disclosure provides a robot eye lamp control method as well as an apparatus and a terminal device using the same. The method includes: loading a simulation image corresponding to an cut shape of the eye lamp of the robot onto a display interface of a terminal device remotely connected with the robot; detecting a color setting instruction issued to each color block area in the simulation image by a user, and generating combined parameter information comprising each color value in response to having received a color confirmation instruction issued by the user, and transmitting the combined parameter information to the robot so that the robot performs a light control on the eye lamp based on the combined parameter information. The present disclosure guarantees that the robot will respond to an interactive instruction only when the light display effect and the actual demand of the user matches.

Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.

Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.

Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.