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公开(公告)号：US11161578B2
公开(公告)日：2021-11-02
申请号：US17278335
申请日：2020-04-16
Inventor： Zhengxing Wu , Junzhi Yu , Yan Meng , Xingyu Chen , Jian Wang , Min Tan
Abstract: A biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.
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公开(公告)号：US20170046855A1
公开(公告)日：2017-02-16
申请号：US15306980
申请日：2014-04-28
Inventor： Zhiqiang Cao , Xilong Liu , Chao Zhou , Min Tan , Kun Ai
IPC: G06T7/60
CPC classification number: G06T7/60 , G06T7/70 , G06T2207/10004 , G06T2207/20021 , G06T2207/20084 , G06T2207/30244 , G06T2207/30252
Abstract: The disclosure relates to a method for detection of the horizontal and gravity directions of an image, the method comprising: selecting equidistant sampling points in an image at an interval of the radius of the sampling circle of an attention focus detector; placing the center of the sampling circle of the attention focus detector on each of the sampling points, and using the attention focus detector to acquire attention focus coordinates and the corresponding significant orientation angle, and all the attention focus coordinates and the corresponding significant orientation angles constitute a set Ωp; using an orientation perceptron to determine a local orientation angle and a weight at the attention focus according to the gray image information, and generating a local orientation function; obtaining a sum of each of the local orientation functions as an image direction function; obtaining a function MCGCS(β), and further obtaining the horizontal and gravity identification angles.
Abstract translation: 本发明涉及一种用于检测图像的水平和重力方向的方法，所述方法包括：以注意焦点检测器的取样圆的半径的间隔选择图像中的等距采样点; 将注意焦点检测器的取样圆的中心放置在每个采样点上，并使用注意焦点检测器获取注意焦点坐标和相应的重要取向角，并且所有注意焦点坐标和相应的重要取向角构成 一套Ωp; 使用定向感知器来根据灰度图像信息来确定注意焦点处的局部取向角度和重量，并且产生局部取向函数; 获得每个局部取向函数的和作为图像方向函数; 获得函数MCGCS（β），并进一步获得水平和重力识别角度。
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3.发明授权公开(公告)号：US11429818B2
公开(公告)日：2022-08-30
申请号：US16960072
申请日：2019-12-10
Inventor： Guodong Yang , Yunong Tian , En Li , Zize Liang , Min Tan , Fengshui Jing , Zishu Gao , Hao Wang , Yuansong Sun , Sixi Lu
Abstract: A multi-label object detection method based on an object detection network includes: selecting an image of an object to be detected as an input image; based on a trained object detection network, obtaining a class of the object to be detected, coordinates of a center of the object to be detected, and a length and a width of a detection rectangular box according to the input image; and outputting the class of the object to be detected, the coordinates of the center of the object to be detected, and the length and the width of the detection rectangular box. The method of the present invention can perform real-time and accurate object detection on different classes of objects with improved detection speed and accuracy, and can solve the problem of object overlapping and occlusion during the object detection.
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公开(公告)号：US20180133088A1
公开(公告)日：2018-05-17
申请号：US15559819
申请日：2015-03-20
Inventor： Zengguang Hou , Weiqun Wang , Long Peng , Xu Liang , Liang Peng , Long Cheng , Xiaoliang Xie , Guibin Bian , Min Tan , Lincong Luo
IPC: A61H1/02 , A63B21/00 , A63B21/005
Abstract: The application presents a multi-posture lower limb rehabilitation robot, which includes a robot base and a training bed. The training bed comprises two sets of leg mechanisms, a seat, a seat width adjustment mechanism, a mechanism for adjusting the gravity center of human body, a back cushion, a weight support system and a mechanism for adjusting the back cushion angle. The robot base comprises a mechanism for adjusting the bed angle. The mechanisms for adjusting the angles of bed and back cushion can be used together to provide paralysis patients with multiple training modes of lying, sitting, and standing postures. Each leg mechanism comprises hip, knee, and ankle joints, which are driven by electric motors; angle and force sensors are installed on each joint, and can be used to identify patients' motion intention to provide patients with active and assistant training. The mechanism for adjusting the gravity center of human body, the leg mechanisms, and the weight support system can be used together to implement human natural walking gait to improve the training effect.
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公开(公告)号：US10722416B2
公开(公告)日：2020-07-28
申请号：US15559819
申请日：2015-03-20
Inventor： Zengguang Hou , Weiqun Wang , Long Peng , Xu Liang , Liang Peng , Long Cheng , Xiaoliang Xie , Guibin Bian , Min Tan , Lincong Luo
Abstract: The application presents a multi-posture lower limb rehabilitation robot, which includes a robot base and a training bed. The training bed comprises two sets of leg mechanisms, a seat, a seat width adjustment mechanism, a mechanism for adjusting the gravity center of human body, a back cushion, a weight support system and a mechanism for adjusting the back cushion angle. The robot base comprises a mechanism for adjusting the bed angle. The mechanisms for adjusting the angles of bed and back cushion can be used together to provide paralysis patients with multiple training modes of lying, sitting, and standing postures. Each leg mechanism comprises hip, knee, and ankle joints, which are driven by electric motors; angle and force sensors are installed on each joint, and can be used to identify patients' motion intention to provide patients with active and assistant training. The mechanism for adjusting the gravity center of human body, the leg mechanisms, and the weight support system can be used together to implement human natural walking gait to improve the training effect.
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Patent Agency Ranking
6.发明授权公开(公告)号：US10252029B2
公开(公告)日：2019-04-09
申请号：US14770232
申请日：2013-06-25
Inventor： Zengguang Hou , Guibin Bian , Xiaoliang Xie , Long Cheng , Min Tan , Zhenqiu Feng , Xiaohu Zhou
Abstract: A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component (3) comprises a pair of rollers (9, 10) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (3), and returning by a pull force of a spring (27) after being released; the driving component (2) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.
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7.发明申请CATHETER OR GUIDE WIRE MANIPULATING DEVICE WITH TWO-POINT-CLAMPING FOR VASCULAR INTERVENTION 审中-公开导管或指导用于血管闭塞的两点钳夹的手术装置公开(公告)号：US20160184552A1
公开(公告)日：2016-06-30
申请号：US14770232
申请日：2013-06-25
Inventor： Zengguang Hou , Guibin Bian , Xiaoliang Xie , Long Cheng , Min Tan , Zhenqiu Feng , Xiaohu Zhou
CPC classification number: A61M25/0113 , A61B2034/301 , A61M25/09041
Abstract: A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component (3) comprises a pair of rollers (9, 10) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (3), and returning by a pull force of a spring (27) after being released; the driving component (2) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.
Abstract translation: 提供了一种具有用于血管介入的两点夹紧的导管或导线操纵装置，包括拇指部件（3），食指部件（4），驱动部件（1）和导管/导丝支撑部件（2） ）; 拇指部件（3）包括一对构造成使导管/导丝前进或后退的辊（9,10） 拇指部件（3）构造成通过组件的组合运动来驱动导管/导丝器顺时针或逆时针旋转; 食指部件（4）被构造成通过手动移动远离拇指部件（3）来实现导管/引导线的旋转和前进，并且在释放之后通过弹簧（27）的拉力返回; 驱动部件（2）构造成驱动拇指部件（3）和食指部件（4）; 导管/引导线支撑部件包括构造成安装Y适配器和入口支撑件的Y适配器固定件，其配置成将导管/导丝支撑并引导到机构中。
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公开(公告)号：US09731096B2
公开(公告)日：2017-08-15
申请号：US14770223
申请日：2013-06-25
Inventor： Guibin Bian , Zengguang Hou , Xiaoliang Xie , Long Cheng , Min Tan , Zhenqiu Feng , Xiaohu Zhou
CPC classification number: A61M25/0105 , A61B19/2203 , A61B34/10 , A61B34/20 , A61M25/0113 , A61M25/09041
Abstract: A catheter or guide wire manipulating device for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component comprises a roller (7) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to cooperate with the thumb component (3) to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component, and returning by a pull force of a spring (23) after being released; the driving component (1) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component (2) comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.
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9.发明授权公开(公告)号：US11300664B1
公开(公告)日：2022-04-12
申请号：US17450693
申请日：2021-10-13
Inventor： Zhiqiang Cao , Zhonghui Li , Jinli Kang , Min Tan , Shuang Liang , Chengpeng Wang
Abstract: A LiDAR odometry method based on the directed geometric point and sparse frame includes: obtaining original three-dimensional point cloud data of a surrounding environment in the coordinate system of the current frame of the LiDAR sensor; constructing and converting the first directed geometric point set and first environmental directed geometric point set into the second directed geometric point set and second environmental directed geometric point set in the world coordinate system, respectively; calculating candidate associated points in the second environmental directed geometric point set in association with each point in the second directed geometric point set, and determining the best associated point of each point in the second directed geometric point set; constructing and solving a pose optimization function to obtain an optimized pose from the coordinate system of the current frame of the LiDAR sensor to the world coordinate system; and updating directed geometric point sets of sparse frames.
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公开(公告)号：US11209843B1
公开(公告)日：2021-12-28
申请号：US17372554
申请日：2021-07-12
Inventor： Hongjun Yang , Min Tan , Zengguang Hou , Junzhi Yu , Long Cheng , Zhengxing Wu , Wei He , Zhijie Liu , Tairen Sun
Abstract: A control method, system and device for a flexible carbon cantilever beam actuated by a smart material is provided. The new control method, system and device aims to solve the problems of control overflow and instability that are likely to occur in the distributed parameter system constructed in the prior art. The method includes: acquiring an elastic displacement of the flexible carbon cantilever beam in real time as input data; and obtaining, based on the input data, a control torque through a distributed parameter model constructed in advance, and performing vibration control on the flexible carbon cantilever beam. The new control method, system and device improves the control accuracy and stability of the distributed parameter system.
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