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公开(公告)号：US12242270B2
公开(公告)日：2025-03-04
申请号：US17469155
申请日：2021-09-08
Applicant: Shanghai University , Chongqing University
Inventor： Huayan Pu , Yuan Liu , Jun Luo , Zhijiang Xie , Xiaomao Li , Jiajia Xie , Zhou Su , Yan Peng , Shaorong Xie
Abstract: A method and system for controlling multi-unmanned surface vessel (USV) collaborative search are disclosed which relate to the technical field of the marine intelligent USV collaborative operation. The method includes determining a task region of a USV team; determining environmental perception information corresponding to each of the USVs at the current moment according to the task region and the probability graph mode; inputting the environmental perception information corresponding to each of the USVs at the current moment into the corresponding target search strategy output model respectively to obtain an execution action of each of the USVs at the next moment; sending the execution action of each of the USVs at the next moment to a corresponding USV execution structure to search for underwater targets within the task region. The target search strategy output model is obtained by training based on a training sample and a DDQN network structure.
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公开(公告)号：US12271197B2
公开(公告)日：2025-04-08
申请号：US18096588
申请日：2023-01-13
Applicant: CHONGQING UNIVERSITY , SHANGHAI UNIVERSITY
Inventor： Huayan Pu , Lele Ding , Xuyang Zheng , Jun Luo , Jie Ma , Jing Huang , Yongbing Chen , Hongliang Liu , Anming Shen , Haonan Sun
IPC: G05D1/00
Abstract: A method and system for decomposing cross-domain path planning of an amphibious vehicle. The method includes: defining a starting point and a target point of cross-domain path planning by acquiring an amphibious map containing coastline information, constructing a candidate set of land-water transition points; setting a multilevel gradient search range on a coastline and a set number of iterations; determining a locally-optimal land-water transition point in each search range in a level-wise search mode; setting a heuristic search termination condition, and determining, based on the heuristic search termination condition, whether a current locally-optimal land-water transition point can be globally optimal; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, determining whether the range is completely traversed; if yes, stopping searching, and determining a globally-optimal land-water transition point; if no, continuing to traverse the range; finally performing global path planning based on the globally-optimal land-water transition point.
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公开(公告)号：US11692607B2
公开(公告)日：2023-07-04
申请号：US17535747
申请日：2021-11-26
Applicant: Chongqing University , Shanghai University
Inventor： Huayan Pu , Yan Jing , Jinglei Zhao , Jun Luo , Yi Qin , Zhijiang Xie , Jie Ma
CPC classification number: F16F15/002 , F16F15/03 , G01H11/02 , H02N15/00 , F16F2230/14
Abstract: A magnetic suspension type sensing system for space full-degree-of-freedom absolute poses is provided. The system includes a reference platform, multiple quasi-zero stiffness supporting legs and a platform to be tested. The reference platform and the platform to be tested are connected in a spherical hinge mode through the multiple quasi-zero stiffness supporting legs. Each of the multiple quasi-zero stiffness supporting legs includes a lower end spherical hinge, a lower end cover, a positive stiffness unit, a negative stiffness unit, a shaft, a lower end shell, an upper end shell and an upper end spherical hinge.
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公开(公告)号：US11808319B2
公开(公告)日：2023-11-07
申请号：US17373248
申请日：2021-07-12
Applicant: Chongqing University , Shanghai University
CPC classification number: F16F15/03 , F16F15/04 , F16F2222/06 , F16F2228/063 , F16F2228/066
Abstract: A horizontally arranged six-degree-of-freedom constant-stiffness mechanism is provided, and includes an upper platform, a bottom plate, three composite spherical hinges, spherical hinges, support rods, guide rail slider assemblies, and six electromagnetic adjustable stiffness units. Two ends of a shaft on which a permanent magnet is fixed in each electromagnetic adjustable stiffness unit are fixed to the bottom plate via shaft supports. Axially moving housings of electromagnetic adjustable stiffness units are fixed on sliders of the guide rail slider assemblies via slider backing plates respectively. Guide rail slider assembles are fixed on the bottom plate. Tops of the housings are mounted with the spherical hinges respectively. A bottom of the upper platform is uniformly mounted with the composite spherical hinges. One end of each support rod is threadedly connected to a corresponding one of the spherical hinges, and another end is connected with a corresponding one of composite spherical hinges.
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公开(公告)号：US20230045158A1
公开(公告)日：2023-02-09
申请号：US17535747
申请日：2021-11-26
Applicant: Chongqing University , Shanghai University
Inventor： Huayan Pu , Yan Jing , Jinglei Zhao , Jun Luo , Yi Qin , Zhijiang Xie , Jie Ma
Abstract: A magnetic suspension type sensing system for space full-degree-of-freedom absolute poses is provided. The system includes a reference platform, multiple quasi-zero stiffness supporting legs and a platform to be tested. The reference platform and the platform to be tested are connected in a spherical hinge mode through the multiple quasi-zero stiffness supporting legs. Each of the multiple quasi-zero stiffness supporting legs includes a lower end spherical hinge, a lower end cover, a positive stiffness unit, a negative stiffness unit, a shaft, a lower end shell, an upper end shell and an upper end spherical hinge.
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Patent Agency Ranking
公开(公告)号：US12203526B2
公开(公告)日：2025-01-21
申请号：US17655294
申请日：2022-03-17
Applicant: Chongqing University
Inventor： Jun Luo , Xu Chen , Huayan Pu , Jinglei Zhao , Yan Jing
Abstract: A negative stiffness generating mechanism and a quasi-zero stiffness vibration isolator are provided. A housing is mounted on a base, and the axial relative positions of the housing and the base can be adjusted; a negative stiffness unit comprises inner-ring magnets, outer-ring magnets and a supporting shaft, the supporting shaft axially slides on the base and passes through the housing, the inner-ring magnets fixedly sleeve the supporting shaft, and the outer-ring magnets sleeve outside the inner-ring magnets and are divided into upper and lower groups of outer-ring magnets; the upper and lower groups of outer-ring magnets can synchronously move through a negative stiffness adjusting device; and the axial relative positions of the middle planes of the outer-ring and inner-ring magnets can be adjusted by adjusting the axial relative positions of the housing and the base. The isolator comprises a negative stiffness generating mechanism and a positive stiffness unit.
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公开(公告)号：US12013237B2
公开(公告)日：2024-06-18
申请号：US17121648
申请日：2020-12-14
Applicant: Chongqing University , Shanghai University
Inventor： Huayan Pu , Jinglei Zhao , Jun Luo , Jiyun Zhao , Qinghua Kong , Jiheng Ding , Min Wang , Yi Sun , Zong Li , Long Bai , Yan Peng , Shaorong Xie
Abstract: The present invention discloses a quasi-zero-stiffness (QZS) based six-degree-of-freedom (6-DOF) absolute displacement and attitude measurement device. A lower end coil and an upper end coil are respectively charged with currents in the opposite directions; The electromagnetic field and the magnetic fields of an upper magnet and a lower magnet per se are mutually acted to produce an electromagnetic stiffness opposite to the stiffness of a spring. The stiffness of the whole leg is close to zero stiffness. When the to-be-measured platform generates space motion, the reference platform is in the stationary state. At this point, the deformation amounts of the six legs can be measured by laser displacement sensors. The six deformation amounts are respectively inputted into the displacement and attitude resolver, and by forward kinematic solution of the 6-DOF device, the displacement and the attitude of the to-be-measured platform can be obtained.
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公开(公告)号：US11927235B2
公开(公告)日：2024-03-12
申请号：US18135028
申请日：2023-04-14
Applicant: Chongqing University , Shanghai University
Inventor： Huayan Pu , Zhi Sun , Jun Luo , Jinglei Zhao , Jin Yi , Yi Qin , Shujin Yuan
IPC: F16F15/00
CPC classification number: F16F15/002 , F16F15/005 , F16F2228/066
Abstract: Disclosed is an active control Stewart vibration damping platform, including a load-bearing platform, a base, and six telescopic rods. Each telescopic rod includes a driving motor, a rotating shaft, a sleeve, and a moving rod. One end, away from the driving motor, of the rotating shaft is provided with a cylindrical cavity, one end of the moving rod penetrates through the cylindrical cavity, and the sleeve is sleeved outside the rotating shaft. The rotating shaft is in running fit with the sleeve through a first bearing, and the moving rod is in sliding fit with the sleeve through a second bearing. The moving rod and the rotating shaft are respectively provided with a spiral permanent magnet. The spiral permanent magnet on the rotating shaft can drive the moving rod to move in an axial direction of the rotating shaft through the spiral permanent magnet on the moving rod when rotating.
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9.发明授权公开(公告)号：US11887485B2
公开(公告)日：2024-01-30
申请号：US17467916
申请日：2021-09-07
Applicant: Shanghai University , Chongqing University
Inventor： Huayan Pu , Yuan Liu , Jun Luo , Zhijiang Xie , Jiajia Xie , Xiaomao Li , Zhou Su , Yan Peng , Hengyu Li , Shaorong Xie
CPC classification number: G08G3/00 , B63B49/00 , B63B79/15 , B63B79/20 , B63B79/40 , G05B13/0265 , G05D1/0206
Abstract: A control method and system for collaborative interception by multiple unmanned surface vessels are provided. The method includes obtaining task environment information of each unmanned surface vessel in an unmanned surface vessel group at a current moment, estimating interception point information of the intruding target at the current moment by using a Kalman filter according to the task environment information of the unmanned surface vessels at the current moment, determining process state information of each unmanned surface vessel at the current moment, inputting the process state information of each unmanned surface vessel at the current moment into a corresponding intruding target interception policy output model respectively to obtain an execution action of each unmanned surface vessel at a next moment to intercept the intruding target. The application can intercept the intruding target accurately.
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公开(公告)号：US20230332666A1
公开(公告)日：2023-10-19
申请号：US18135028
申请日：2023-04-14
Applicant: Chongqing University , Shanghai University
Inventor： Huayan Pu , Zhi Sun , Jun Luo , Jinglei Zhao , Jin Yi , Yi Qin , Shujin Yuan
IPC: F16F15/00
CPC classification number: F16F15/002 , F16F15/005 , F16F2228/066
Abstract: Disclosed is an active control Stewart vibration damping platform, including a load-bearing platform, a base, and six telescopic rods. Each telescopic rod includes a driving motor, a rotating shall, a sleeve, and a moving rod. One end, away from the driving motor, of the rotating shaft is provided with a cylindrical cavity, one end of the moving rod penetrates through the cylindrical cavity, and the sleeve is sleeved outside the rotating shall. The rotating shaft is in running lit with the sleeve through a first bearing, and the moving rod is in sliding fit with the sleeve through a second bearing. The moving rod and the rotating shaft are respectively provided with a spiral permanent magnet. The spiral permanent magnet on the rotating shaft can drive the moving rod to move in an axial direction of the rotating shaft through the spiral permanent magnet on the moving rod when rotating.
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