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公开(公告)号：US12001216B2
公开(公告)日：2024-06-04
申请号：US17334834
申请日：2021-05-31
Inventor： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
CPC classification number: G05D1/0238 , G05D1/0223 , G05D1/0246 , G06N3/04 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30261
Abstract: Carpet detection using an RGB-D camera and mobile machine movement control based thereon are disclosed. Carpets and carpet curls are detected by obtaining a RGB-D image pair including an RGB image and a depth image through an RGB-D camera, detecting carpet and carpet-curl areas in the RGB image and generating a 2D bounding box to mark each area using a deep learning model, and generating groups of carpet and carpet-curt points corresponding to each of the carpet and carpet-curl areas by matching each pixel of the RGB image within each 2D bounding box corresponding to the carpet and carpet curl areas to each pixel in the depth image.
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公开(公告)号：US11931885B2
公开(公告)日：2024-03-19
申请号：US17513917
申请日：2021-10-29
Inventor： Sheryl Suet Ying Chau , Yang Shen , Chengkun Zhang , Huan Tan
CPC classification number: B25J13/085 , B25J13/081 , G01L5/169
Abstract: 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.
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公开(公告)号：US11806303B2
公开(公告)日：2023-11-07
申请号：US17359672
申请日：2021-06-28
Inventor： ChengKun Zhang , Luis Alfredo Mateos Guzman , Houzhu Ding , Zhen Xiu , Huan Tan
CPC classification number: A61H3/04 , G05D1/0088 , G05D1/0231 , A61H2003/043 , A61H2201/1635 , A61H2201/1659 , A61H2201/5007 , A61H2201/5092 , A61H2203/0406 , A61H2203/0425
Abstract: A robotic walking assistant includes a wheeled base having a base and one or more position adjustable wheels connected to the base, a body disposed in a vertical direction, positioned on the wheeled base and having a handle, and a control system that receives command instructions. Each of the one or more wheels is slidable with respect to the base between a retracted position and an extended position in a direction that is substantially parallel to a surface where the wheeled base moves. In response to the command instructions, the control system moves the one or more wheels between the retracted positions and the extended positions.
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公开(公告)号：US11797013B2
公开(公告)日：2023-10-24
申请号：US17134219
申请日：2020-12-25
Inventor： Dejun Guo , Kang-Hao Peng , Dan Shao , Yang Shen , Huan Tan
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/0223 , G05D1/0238 , G05D1/0257
Abstract: Collision avoidance for a mobile machine having a plurality of sensors is disclosed. The mobile machine is avoided from colliding with a collision object by fusing sensor data received from the plurality of sensors to obtain a plurality of data points corresponding to the collision object, calculating a closed-form solution of a distance between the mobile machine and each of the plurality of data points, calculating a maximum allowed velocity of the mobile machine based on the shortest distance between the mobile machine and the plurality of data points and a current velocity of the mobile machine, and controlling the mobile machine to move according to the maximum allowed velocity.
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公开(公告)号：USD996304S1
公开(公告)日：2023-08-22
申请号：US29815205
申请日：2021-11-12
Designer： Francisco Jose Hernandez , ChengKun Zhang , Jinxing Wang , Kun Xie , Huan Tan
Abstract: FIG. 1 is a first perspective view of an electric wheelchair 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.-
Patent Agency Ranking
公开(公告)号：US11554071B2
公开(公告)日：2023-01-17
申请号：US17467461
申请日：2021-09-07
Inventor： Houzhu Ding , Chengkun Zhang , Zhen Xiu , Huan Tan
Abstract: A robotic assistant includes a base; an elevation mechanism positioned on the base; a display rotatably mounted on the elevation mechanism; a camera positioned on the display; and a control system that receives command instructions. In response to the command instructions, the control system is to detect movement of a face of the user in a vertical direction based on the images captured by the camera. In response to detection of the movement of the face of the user in the vertical direction, the control system is to rotate the display and actuate the elevation mechanism to the move the display up and down to allow the camera to face the face of the user during the movement of the face of the user in the vertical direction.
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公开(公告)号：US20220382293A1
公开(公告)日：2022-12-01
申请号：US17334834
申请日：2021-05-31
Inventor： Chuqiao Dong , Dan Shao , Zhen Xiu , Dejun Guo , Huan Tan
Abstract: Carpet detection using an RGB-D camera and mobile machine movement control based thereon are disclosed. Carpets and carpet curls are detected by obtaining a RGB-D image pair including an RGB image and a depth image through an RGB-D camera, detecting carpet and carpet-curl areas in the RGB image and generating a 2D bounding box to mark each area using a deep learning model, and generating groups of carpet and carpet-curt points corresponding to each of the carpet and carpet-curl areas by matching each pixel of the RGB image within each 2D bounding box corresponding to the carpet and carpet curl areas to each pixel in the depth image.
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公开(公告)号：US20220382282A1
公开(公告)日：2022-12-01
申请号：US17329197
申请日：2021-05-25
Inventor： Dejun Guo , Aravind Sreejith , Chuqiao Dong , Dan Shao , Zhen Xiu , Huan Tan
Abstract: Navigation of a mobility aid robot having a camera and gripping part(s) disposed toward different directions is disclosed. The mobility aid robot is navigated to approach a user by identifying a posture of the user through the camera, determining a mode of the robot according to a type of the specified task to be performed on the user and the identified posture of the user, controlling the robot to move according to a planned trajectory corresponding to the determined mode of the robot, and turning the robot upon reaching the desired pose such that the gripping part faces the user, in response to the determined mode of the robot corresponding to the specified task of an assisting type and the user at one of a standing posture and a sitting posture.
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39.发明申请公开(公告)号：US20220339786A1
公开(公告)日：2022-10-27
申请号：US17239691
申请日：2021-04-26
Abstract: 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).
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公开(公告)号：US11429112B2
公开(公告)日：2022-08-30
申请号：US17138946
申请日：2020-12-31
Inventor： Dejun Guo , Dan Shao , Yang Shen , Kang-Hao Peng , Huan Tan
Abstract: A mobile robot control method includes: acquiring a first image that is captured by a camera on a robot when the robot is in a desired pose; acquiring a second image that is captured by the camera on the robot when the robot is in a current pose; extracting multiple pairs of matching feature points from the first image and the second image, and projecting the extracted feature points onto a virtual unitary sphere to obtain multiple projection feature points, wherein a center of the virtual unitary sphere is coincident with an optical center of coordinates of the camera; acquiring an invariant image feature and a rotation vector feature based on the multiple projection feature points, and controlling the robot to move until the robot is in the desired pose according to the invariant image feature and the rotation vector feature.
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