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公开(公告)号：US20220206499A1
公开(公告)日：2022-06-30
申请号：US17134219
申请日：2020-12-25
发明人： Dejun Guo , Kang-Hao Peng , Dan Shao , Yang Shen , Huan Tan
IPC分类号： G05D1/02
摘要： 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：US11429112B2
公开(公告)日：2022-08-30
申请号：US17138946
申请日：2020-12-31
发明人： Dejun Guo , Dan Shao , Yang Shen , Kang-Hao Peng , Huan Tan
摘要： 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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3.发明申请公开(公告)号：US20220236071A1
公开(公告)日：2022-07-28
申请号：US17158032
申请日：2021-01-26
发明人： Kang-Hao Peng , Dejun Guo , huan Tan , Yang Shen
摘要： 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.
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4.发明申请公开(公告)号：US20230137715A1
公开(公告)日：2023-05-04
申请号：US17512685
申请日：2021-10-28
发明人： Dan Shao , Yang Shen , Fei Long , Jiexin Cai , Huan Tan
IPC分类号： B25J9/16
摘要： A vision-guided picking and placing method for a mobile robot that has a manipulator having a hand and a camera, includes: receiving a command instruction that instructs the mobile robot to grasp a target item among at least one object; controlling the mobile robot to move to a determined location, controlling the manipulator to reach for the at least one object, and capturing one or more images of the at least one object using the camera; extracting visual feature data from the one or more images, matching the extracted visual feature data to preset feature data of the target item to identify the target item, and determining a grasping position and a grasping vector of the target item; and controlling the manipulator and the hand to grasp the target item according to the grasping position and the grasping vector, and placing the target item to a target position.
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公开(公告)号：US20220350342A1
公开(公告)日：2022-11-03
申请号：US17239603
申请日：2021-04-25
发明人： Dejun Guo , Ting-Shuo Chou , Yang Shen , Huan Tan
摘要： A moving target following method, which is executed by one or more processors of a robot that includes a camera and a sensor electrically coupled to the one or more processors, includes: performing a body detection to a body of a target based on images acquired by the camera to obtain a body detection result; performing a leg detection to legs of the target based on data acquired by die sensor to obtain a leg detection result; and fusing the body detection result and the leg detection result to obtain a fusion result, and controlling the robot to follow the target based on the fusion result.
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公开(公告)号：US20220206509A1
公开(公告)日：2022-06-30
申请号：US17138946
申请日：2020-12-31
发明人： Dejun Guo , Dan Shao , Yang Shen , Kang-Hao Peng , Huan Tan
IPC分类号： G05D1/02
摘要： 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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公开(公告)号：US20230133207A1
公开(公告)日：2023-05-04
申请号：US17513917
申请日：2021-10-29
发明人： Sheryl Suet Ying Chau , Yang Shen , Chengkun Zhang , Huan Tan
摘要： 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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8.发明申请公开(公告)号：US20220409469A1
公开(公告)日：2022-12-29
申请号：US17528158
申请日：2021-11-16
发明人： Yang Shen , Armen Gardabad Ohanian , Zhen Xiu , Muhammed Rasid Pac , Chengkun Zhang , Huan Tan
IPC分类号： A61H3/04 , A63B21/005
摘要： 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.
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公开(公告)号：US20220371187A1
公开(公告)日：2022-11-24
申请号：US17325221
申请日：2021-05-20
发明人： Yang Shen , Dejun Guo , ChengKun Zhang , Huan Tan
IPC分类号： B25J9/16
摘要： 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.
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