公开(公告)号：US12145270B2

公开(公告)日：2024-11-19

申请号：US17784905

申请日：2021-10-26

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Linhu Wei ,  Chaolong Qin ,  Yu Zhao

IPC: B25J9/16 ,  B25J13/02 ,  B25J13/08 ,  B25J19/02 ,  G06V10/25 ,  G06V10/60 ,  G06V10/82

Abstract: The present disclosure discloses an autonomous mobile grabbing method for a mechanical arm based on visual-haptic fusion under a complex illumination condition, which mainly includes approaching control over a target position and feedback control over environment information.
According to the method, under the complex illumination condition, weighted fusion is conducted on visible light and depth images of a preselected region, identification and positioning of a target object are completed based on a deep neural network, and a mobile mechanical arm is driven to continuously approach the target object; in addition, the pose of the mechanical arm is adjusted according to contact force information of a sensor module, the external environment and the target object; and meanwhile, visual information and haptic information of the target object are fused, and the optimal grabbing pose and the appropriate grabbing force of the target object are selected.
By adopting the method, the object positioning precision and the grabbing accuracy are improved, the collision damage and instability of the mechanical arm are effectively prevented, and the harmful deformation of the grabbed object is reduced.

公开(公告)号：US11478937B2

公开(公告)日：2022-10-25

申请号：US17280305

申请日：2020-04-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Chaolong Qin ,  Jiahang Zhu ,  Linhu Wei ,  Yu Zhao ,  Huijun Li ,  Baoguo Xu

IPC: G06F3/033 ,  B25J13/02 ,  G06F3/01 ,  G06F3/0338

Abstract: The present invention discloses a care robot controller, which includes: a controller body that includes slide rails, finger slot sliders and a joystick, wherein the finger slot sliders are movably arranged on the slide rails and configured to receive pressing, and the joystick is configured to control the care robot; a gesture parsing unit configured to parse three-dimensional gestures of the controller body, and control the care robot to perform corresponding actions when the three-dimensional gestures of the controller body are in line with preset gestures; and a tactile sensing unit configured to sense the pressing received by the finger slot sliders and initiate a user mode corresponding to the pressing information, so that the controller body provides corresponding vibration feedback. Thus the user can control the controller efficiently and conveniently, the control accuracy is improved, and effective man-machine interaction is realized.