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公开(公告)号：US20200141763A1
公开(公告)日：2020-05-07
申请号：US16183512
申请日：2018-11-07
申请人： SHANGHAI UNIVERSITY
发明人： Huayan PU , Jinglei ZHAO , Jun LUO , Yi SUN , Shaorong XIE , Yan PENG , Yi YANG , Yuanyuan LIU , Min WANG
摘要： An electromagnetic type quasi-zero stiffness absolute displacement sensor that includes an intermediate shaft, upper end cover, first sliding bearing arranged on the upper end cover, upper housing fixedly connected to the upper end cover, electromagnetic coil fastened onto an inner wall of the upper housing, spiral spring, spring support connected to a lower end of the spiral spring, force sensor fastened onto a lower end surface of the spring support, lower end cover fastened onto lower end surface of the force sensor, and a lower housing connected to the lower end cover; the intermediate shaft sequentially passes through, from top down, the first sliding bearing, upper end cover, and electromagnetic coil, and is connected to an upper end of the spiral spring; and the upper housing is provided therein with a ring permanent magnet that is nested on the intermediate shaft and is not in contact with the electromagnetic coil.
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公开(公告)号：US20220399836A1
公开(公告)日：2022-12-15
申请号：US17462372
申请日：2021-08-31
申请人： Shanghai University
发明人： Zhongjie LI , Xuzhang PENG , Yan PENG , Jun LUO , Shaorong XIE , Huayan PU
IPC分类号： H02N11/00 , A63H15/04 , H01L41/113 , H01L41/187
摘要： A normal-temperature heat engine power generation device based on a drinking bird is provided. The device includes a drinking bird body, a piezoelectric module and an electromagnetic module. The piezoelectric module includes a cantilever beam, a piezoelectric sheet arranged on the cantilever beam and working loads arranged at an end of the cantilever beam. when a head of the drinking bird body swings downwards, a tip of a beak can impact the working loads. The electromagnetic module includes magnets, coils and coil magnet conducting columns. The magnets are arranged at a bottom of a spherical bottom of the drinking bird body, and the coil magnet conducting columns sleeving the coils are arranged on a base of the drinking bird body.
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公开(公告)号：US20220214688A1
公开(公告)日：2022-07-07
申请号：US17469155
申请日：2021-09-08
发明人： Huayan PU , Yuan LIU , Jun LUO , Zhijiang XIE , Xiaomao LI , Jiajia XIE , Zhou SU , Yan PENG , Shaorong XIE
摘要： 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：US20220175079A1
公开(公告)日：2022-06-09
申请号：US17538708
申请日：2021-11-30
申请人： SHANGHAI UNIVERSITY
发明人： Zhongjie LI , Fan SHEN , Yan PENG , Jun LUO , Shaorong XIE , Huayan PU
摘要： A shoe energy collecting device includes a shell, a piezoelectric assembly, an elastic component, a magnet array, a base, a supporting block, an upper friction assembly and a lower friction assembly. The shell includes a supporting shell and a plastic shell connected in sequence. The base is provided below the supporting block in the supporting shell, the lower friction assembly is provided between the supporting block and the base. The upper friction assembly is provided on an inner wall of a top surface of the plastic shell. A coil is provided on a lower surface of the lower friction assembly at a side of the plastic shell, and the magnet array is provided below the coil. The piezoelectric assembly is provided in the plastic shell, the elastic component is provided on a side wall of the plastic shell away from the supporting block, and connected with the piezoelectric assembly.
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公开(公告)号：US20210379946A1
公开(公告)日：2021-12-09
申请号：US17287491
申请日：2020-09-04
申请人： SHANGHAI UNIVERSITY
发明人： Yi SUN , Longteng ZHANG , Huayan PU , Min WANG , Yan PENG , Jiheng DING , Jun LUO , Shaorong XIE
摘要： A wheel-legged amphibious mobile robot with a variable attack angle, which belongs to the technical field of robot structure technology. The robot includes three parts: motion unit, body trunk and power unit. As a key structure, the motion unit mainly includes a moving mechanism, a wheel assembly, a telescopic mechanism and a transmission device. The robot drives the telescopic mechanism to reciprocate linearly through a gear and rack set, and pushes “legs” to expand and retract, so as to realize a mutual switching between a wheeled mode and a gait mode. Under transmission of bevel gear set, the blades can rotate at any same angle at the same time, to change the attack angle and realize the steering. The robot provided by the present disclosure can effectively adapt to a complex and harsh amphibious environment, and meet a series of operation requirements such as rapid movement, obstacle climbing, underwater steering.
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公开(公告)号：US20240111288A1
公开(公告)日：2024-04-04
申请号：US18096588
申请日：2023-01-13
发明人： Huayan PU , Lele DING , Xuyang ZHENG , Jun LUO , Jie MA , Jing HUANG , Yongbing CHEN , Hongliang LIU , Anming SHEN , Haonan SUN
IPC分类号： G05D1/02
CPC分类号： G05D1/0212 , G05D1/0206
摘要： 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：US20220243782A1
公开(公告)日：2022-08-04
申请号：US17373248
申请日：2021-07-12
摘要： 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：US20210088103A1
公开(公告)日：2021-03-25
申请号：US16686449
申请日：2019-11-18
发明人： Jun LUO , Dong ZHANG , Min WANG , Huayan PU , Yi SUN , Chaoqun DUAN , Shunqi ZHANG , Yan PENG , Shaorong XIE
摘要： The present disclosure discloses a piezoelectric self-powered combination beam vibration damper and a control method thereof. An upper guiding component is installed inside an upper rigid frame, a lower guiding component is installed inside a lower rigid component, a guide rod is nested inside the upper guiding component and the lower guiding component, an upper elastic component is sleeved outside the upper idler wheel mechanism, a lower elastic component is sleeved outside the lower idler wheel mechanism, one end of each piezoelectric cantilever beam is fixed between the upper rigid frame and the lower rigid frame, the other end of each piezoelectric cantilever beam is arranged between the upper idler wheel mechanism and the lower idler wheel mechanism, at least one piezoelectric cantilever beam is connected with the input end of a circuit system, and other piezoelectric cantilever beams are connected with the output end of the circuit system.
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9.发明公开公开(公告)号：US20240116533A1
公开(公告)日：2024-04-11
申请号：US18181701
申请日：2023-03-10
发明人： Huayan PU , Hai LIU , Xuyang ZHENG , Jun LUO , Jie MA , Jing HUANG , Yongbing CHEN , Hongliang LIU , Anming SHEN , Haonan SUN
CPC分类号： B60W60/0011 , B60W60/0015 , G06T17/005 , B60W2530/201 , B60W2554/4041 , B60W2554/80
摘要： A method, system, electronic device and storage medium for constructing locally convex feasible space are provided. The method includes acquiring a plurality of initial motion trajectory points, size information and surrounding obstacle information of a target vehicle; generating a quadtree map according to the above information; determining a target distance corresponding to each initial motion trajectory point according to the quadtree map; allocating locally convex feasible space to a first-type initial motion trajectory point by using the quadtree map, and allocating locally convex feasible space to a second-type initial motion trajectory point by using an improved convex feasible set algorithm. The first-type initial motion trajectory point is an initial motion trajectory point with the target distance greater than or equal to a set threshold; and the second-type initial motion trajectory point is an initial motion trajectory point with the target distance less than the set threshold.
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公开(公告)号：US20230341869A1
公开(公告)日：2023-10-26
申请号：US18096587
申请日：2023-01-13
发明人： Jun LUO , Lele DING , Huayan PU , Jie MA , Xuyang ZHENG , Hongliang LIU , Jing HUANG , Yongbing CHEN , Anming SHEN
IPC分类号： G05D1/02
CPC分类号： G05D1/0274 , G05D2201/0207
摘要： The present disclosure provides a method and system for path planning of an unmanned vehicle in a three-dimensional terrain and relates to the technical field of path planning. The method includes building a random tree with an initial point of a to-be-planned path as a node; generating a random node based on a goal bias strategy and a multi-sampling strategy; determining a node in the random tree and with a minimum two-dimensional distance from the random node as a nearest node; determining a direction from the nearest node to the random node as an extension direction; determining a point corresponding to a preset step length as a to-be-determined node in the extension direction with the nearest node as a starting point; and updating the random tree or determining a path cut-off random tree through elevation detection and path search cut-off detection, so as to determine the to-be-planned path.
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