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公开(公告)号：US08588471B2
公开(公告)日：2013-11-19
申请号：US12699900
申请日：2010-02-04
Applicant: Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
CPC classification number: G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
Abstract: A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
Abstract translation: 提供了一种映射方法。 扫描环境以获得环境障碍物的深度信息。 拍摄环境的图像以生成图像平面。 将环境障碍物的深度信息投影到图像平面上，以获得投影位置。 从每个投影位置周围的预定范围计算至少一个特征向量。 合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。 组合所有时间点的子地图以生成地图。 此外，还提供了使用该图的定位方法。
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公开(公告)号：US07568536B2
公开(公告)日：2009-08-04
申请号：US11524478
申请日：2006-09-21
Applicant: Hung-Hsiu Yu , Shou-Ren Chen , Yu-Lun Ho , Wei-Han Wang , Fang Chang
Inventor： Hung-Hsiu Yu , Shou-Ren Chen , Yu-Lun Ho , Wei-Han Wang , Fang Chang
IPC: B62D6/00
CPC classification number: B60T7/22
Abstract: An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same. Moreover, each driving unit of the plural driving units is comprised of an omni-directional wheel and an actuator for driving the corresponding omni-directional wheel to rotate omni-directionally, by which the platform is enabled to move continuously while changing its moving direction simultaneously so as to free the robotic cleaner from the shortcomings of those conventional autonomous cleaner, such as poor maneuverability, poor mobility and insufficient degree-of-freedom regarding to the driving of the cleaner. Therefore, not only the operation mobility of the robotic cleaner is enhanced, but also the moving agility of the same is greatly improved.
Abstract translation: 一种全方位机器人清洁器，由平台和用于驱动和控制平台的运动的多个驱动单元组成，其中平台还包括：用于障碍物检测的感测单元; 清洁单元，用于收集和除去灰尘和污垢; 处理单元，其能够相应地规划和映射行进路径，从而接收从感测单元发送的信号; 以及用于向全方位机器人清洁器提供电力的电力单元，同时管理它。 此外，多个驱动单元的每个驱动单元包括全方向轮和用于驱动相应的全向轮的致动器，以便全方位旋转，通过该致动器，平台能够同时改变其移动方向而连续移动 从而使机器人清洁器免于那些常规自动清洁器的缺点，例如机动性差，移动性差，并且对于清洁器的驱动而言的自由度不足。 因此，不仅机器人清洁器的操作流动性增强，而且移动敏捷性大大提高。
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公开(公告)号：US20090143912A1
公开(公告)日：2009-06-04
申请号：US12031718
申请日：2008-02-15
Applicant: Wei-Han Wang , Ya-Hui Tsai , Yen-Chun Lin
Inventor： Wei-Han Wang , Ya-Hui Tsai , Yen-Chun Lin
IPC: G05B19/19
CPC classification number: B25J9/1671 , G05B2219/39065 , G05B2219/40089 , G05B2219/40095 , G05B2219/40099 , G05B2219/40607
Abstract: System and method for graphically allocating robot's working space are provided. The system includes an image extractor, a task-allocating server and a robot. A graphic user interface (GUI) of the task-allocating server includes a robot's working scene area, a space attribute allocating area and a robot's task area. Thus, a user assigns one certain space area in the robot's working scene area with a “wall” attribute, or another space area with a “charging station” attribute. Meanwhile, by using the GUI, the user directly assigns the robot to execute a specific task at a certain area. Hence, the user or remote controller facilitates the robot to provide safer and more effective service through his/her environment recognition.
Abstract translation: 提供了图形化分配机器人工作空间的系统和方法。 该系统包括图像提取器，任务分配服务器和机器人。 任务分配服务器的图形用户界面（GUI）包括机器人的工作场景区域，空间属性分配区域和机器人的任务区域。 因此，用户在机器人的工作场景区域中分配一个具有“墙”属性的特定空间区域或者具有“充电站”属性的另一个空间区域。 同时，通过使用GUI，用户直接指定机器人在特定区域执行特定任务。 因此，用户或遥控器便于机器人通过他/她的环境识别来提供更安全和更有效的服务。
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公开(公告)号：US07462320B2
公开(公告)日：2008-12-09
申请号：US11291853
申请日：2005-12-02
Applicant: Yu-Lun Ho , Jen-Hua Wu , Wei-Han Wang , Shou-Ren Chen , Lai-Sheng Chen
Inventor： Yu-Lun Ho , Jen-Hua Wu , Wei-Han Wang , Shou-Ren Chen , Lai-Sheng Chen
CPC classification number: B29C37/0007 , B29C33/44 , B29C43/003 , B29C43/021 , B29C43/40 , B29C43/50 , B29C59/022 , B29C2043/025 , B29C2043/5038 , B29C2043/5069 , B29C2059/023
Abstract: The present invention relates to a demolding method and device, being used for detaching a mold and a substrate after completing an imprinting process, in which the mold is forced to detach from the substrate partially and form a gap therebetween by inserting at least a blade module between the two, and thus, as air is sucked into the gap and the adhesion force of vacuum effect exerting between the mold and the substrate is eliminated, the blade module is further applied to detach the mold from the substrate completely.
Abstract translation: 脱模方法和装置技术领域本发明涉及一种脱模方法和装置，其用于在完成压印过程之后分离模具和基材，其中模具被迫部分地从基板上分离并通过至少插入一个叶片模块 在两者之间，因此当空气被吸入到间隙中并且消除了在模具和基板之间施加的真空效应的粘附力时，进一步施加叶片模块以将模具完全分离。
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公开(公告)号：US20070147727A1
公开(公告)日：2007-06-28
申请号：US11540972
申请日：2006-10-02
Applicant: Yen-Chieh Mao , Jian-Shian Lin , Lai-Sheng Chen , Wei-Han Wang
Inventor： Yen-Chieh Mao , Jian-Shian Lin , Lai-Sheng Chen , Wei-Han Wang
IPC: G02B6/00
CPC classification number: G01N21/7703 , G01N21/553 , G01N2021/7773
Abstract: An optical waveguide bio-sensing device, comprising: a monochromatic light source, a beam splitter, a grating chip with a sub-wavelength grating structure and a sensor. Moreover, in order to enhance the sensitivity of the system using the optical waveguide bio-sensing device, a light concentrating element or a quarter waveplate (¼λ) is arranged in the optical path during detection. When the grating chip is not coated with a layer of biochemical substance corresponding to a monochrome light emitted from the monochromatic light source, a reflected light of a specific narrow wavelength is reflected by a specific angle as a surface plasmon resonant effect caused by waveguide coupling is excited by the incidence of the monochrome light to the grating chip through the beam splitter; otherwise, there will be little or no reflection. Accordingly, the optical waveguide bio-sensing device can detect bio-molecular interactions, reaction rate and/or molecular dynamics without any labeling in real time. Optical systems using the present invention are simplified and capable of being portable. Thus a high sensitivity detection technique is achieved.
Abstract translation: 一种光波导生物感测装置，包括：单色光源，分束器，具有亚波长光栅结构的光栅芯片和传感器。 此外，为了提高使用光波导生物感测装置的系统的灵敏度，在检测期间在光路中布置光聚集元件或四分之一波片（λ=λ）。 当光栅芯片没有涂覆与从单色光源发射的单色光相对应的生物化学物质层时，由于波导耦合引起的表面等离子体共振效应，特定窄波长的反射光被反射特定角度 由单色光通过分束器激发到光栅芯片; 否则，会有很少或没有反映。 因此，光波导生物传感装置可以实时检测生物分子相互作用，反应速率和/或分子动力学，而无需任何标记。 使用本发明的光学系统被简化并能够便携。 因此实现了高灵敏度检测技术。
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Patent Agency Ranking
公开(公告)号：US07187107B2
公开(公告)日：2007-03-06
申请号：US11027192
申请日：2004-12-29
Applicant: Yi-Ming Chu , Wei-Han Wang , Chao-Chi Wu
Inventor： Yi-Ming Chu , Wei-Han Wang , Chao-Chi Wu
CPC classification number: H02N2/028
Abstract: Provided is a closed-loop feedback control positioning stage comprising at least one block formed therein, a plurality of hinge mechanisms for attaching the block in the stage, at least one actuator formed in the block, the actuator adapted to bend for moving the block in at least one direction, and a plurality of strain gauges each attached in a corresponding hinge mechanism for measuring its strain. The invention can repeatedly position the block at the moved location for carrying out a highly precise positioning of the stage.
Abstract translation: 提供了一种闭环反馈控制定位台，其包括形成在其中的至少一个块，用于将块附接在台中的多个铰链机构，形成在块中的至少一个致动器，致动器适于弯曲以将块移动 至少一个方向，以及多个应变计，每个应变计附接在相应的铰链机构中，用于测量其应变。 本发明可以在移动的位置处重复地将块定位，以执行台的高精度定位。
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公开(公告)号：US07114692B2
公开(公告)日：2006-10-03
申请号：US11075724
申请日：2005-03-10
Applicant: Yann-Shuoh Sun , Wei-Han Wang , Jen-Hua Wu , Yen-Chieh Mao
Inventor： Yann-Shuoh Sun , Wei-Han Wang , Jen-Hua Wu , Yen-Chieh Mao
IPC: A47B97/00
CPC classification number: F16F15/02
Abstract: A vibration isolation device for isolating a vibration source from a carried member, includes: a carrier for carrying the carried member; a housing positioned on the vibration source, and formed with an accommodating space; a cover for sealing an open end of the housing; a base mounted in the accommodating space, and extended through the cover to be connected to the carrier; a plurality of connecting members mounted in the accommodating space and around the base, wherein each of the connecting members is connected to the base and the cover; and a plurality of actuators provided in the connecting members respectively, for changing vibration of the connecting members and the base when the vibration source vibrates, so as to minimize vibration of the carrier, thereby achieving the effect of isolating vertical and horizontal vibrations.
Abstract translation: 一种用于将振动源与承载构件隔离的隔振装置，包括：承载所承载的构件的载体; 定位在振动源上的壳体，并形成有容纳空间; 用于密封壳体的开口端的盖; 安装在所述容纳空间中并且延伸穿过所述盖以连接到所述载体的基座; 多个连接构件安装在容纳空间中并围绕基座，其中每个连接构件连接到基座和盖子; 以及分别设置在连接构件中的多个致动器，用于当振动源振动时改变连接构件和基座的振动，从而最小化载体的振动，从而实现隔离垂直和水平振动的效果。
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公开(公告)号：US08160746B2
公开(公告)日：2012-04-17
申请号：US12031718
申请日：2008-02-15
Applicant: Wei-Han Wang , Ya-Hui Tsai , Yen-Chun Lin
Inventor： Wei-Han Wang , Ya-Hui Tsai , Yen-Chun Lin
IPC: G05B19/19
CPC classification number: B25J9/1671 , G05B2219/39065 , G05B2219/40089 , G05B2219/40095 , G05B2219/40099 , G05B2219/40607
Abstract: System and method for graphically allocating robot's working space are provided. The system includes an image extractor, a task-allocating server and a robot. A graphic user interface (GUI) of the task-allocating server includes a robot's working scene area, a space attribute allocating area and a robot's task area. Thus, a user assigns one certain space area in the robot's working scene area with a “wall” attribute, or another space area with a “charging station” attribute. Meanwhile, by using the GUI, the user directly assigns the robot to execute a specific task at a certain area. Hence, the user or remote controller facilitates the robot to provide safer and more effective service through his/her environment recognition.
Abstract translation: 提供了图形化分配机器人工作空间的系统和方法。 该系统包括图像提取器，任务分配服务器和机器人。 任务分配服务器的图形用户界面（GUI）包括机器人的工作场景区域，空间属性分配区域和机器人的任务区域。 因此，用户在机器人的工作场景区域中分配一个具有“墙”属性的特定空间区域或者具有“充电站”属性的另一个空间区域。 同时，通过使用GUI，用户直接指定机器人在特定区域执行特定任务。 因此，用户或遥控器便于机器人通过他/她的环境识别来提供更安全和更有效的服务。
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9.发明授权公开(公告)号：US08044780B2
公开(公告)日：2011-10-25
申请号：US12019975
申请日：2008-01-25
Applicant: Kuo-Shih Tseng , Hsiang-Wen Hsieh , Wei-Han Wang
Inventor： Kuo-Shih Tseng , Hsiang-Wen Hsieh , Wei-Han Wang
Abstract: The invention relates to a method and apparatus for predicting/alarming the moving of hidden objects. The apparatus comprises: a distance sensing unit, for obtaining a distance data detected within a specific sensing range and thus outputting the distance data; a speed sensing unit, for measuring the movement of a carrier to obtain a real-time speed data of the carrier and thus output the speed data; a control unit, for receiving and analyzing the distance data and the speed data to obtain information relating to the position of the carrier, the environment surrounding the carrier and positions of objects moving in the blind spots of the carrier, and thus to perform an evaluation based upon the aforesaid information to determine a danger level for issuing a control signal accordingly; and an alarm unit, for issuing an alarm signal according to the control signal.
Abstract translation: 本发明涉及一种用于预测/警报隐藏物体移动的方法和装置。 该装置包括：距离感测单元，用于获得在特定感测范围内检测到的距离数据，从而输出距离数据; 速度检测单元，用于测量载波的移动以获得载波的实时速度数据，从而输出速度数据; 控制单元，用于接收和分析距离数据和速度数据，以获得与载体的位置，载体周围的环境以及在载体的盲点中移动的物体的位置相关的信息，从而进行评估 基于上述信息来确定相应地发出控制信号的危险等级; 以及报警单元，用于根据控制信号发出报警信号。
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公开(公告)号：US20110123135A1
公开(公告)日：2011-05-26
申请号：US12699900
申请日：2010-02-04
Applicant: Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
CPC classification number: G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
Abstract: A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
Abstract translation: 提供了一种映射方法。 扫描环境以获得环境障碍物的深度信息。 拍摄环境的图像以生成图像平面。 将环境障碍物的深度信息投影到图像平面上，以获得投影位置。 从每个投影位置周围的预定范围计算至少一个特征向量。 合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。 组合所有时间点的子地图，生成地图。 此外，还提供了使用该图的定位方法。
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