公开(公告)号：US11964401B2

公开(公告)日：2024-04-23

申请号：US17489738

申请日：2021-09-29

Applicant: ZHEJIANG UNIVERSITY

Inventor： Yue Wang ,  Yanmei Jiao ,  Rong Xiong

IPC: B25J9/16 ,  G05D1/00

CPC classification number: B25J9/1697 ,  B25J9/1664 ,  G05D1/0246 ,  G05D1/0274

Abstract: Provided is a globally optimal robot visual positioning method and device based on point-line features. The method comprises the following steps: acquiring a priori three-dimensional map of a current scene constructed in advance; acquiring a current image of the robot and the inertial measurement data; calculating a pitch angle and a roll angle of the current robot pose according to the current inertial sensor data and the inertial sensor data in the priori map; matching the two-dimensional point-line features detected in the current image with three-dimensional point-line features in a priori map; separating the rotation and translation of the pose to be solved according to the matched feature pairs, solving the rotation and then solving the translation so as to complete the dimensionality reduction of the search space.

公开(公告)号：US20240401971A1

公开(公告)日：2024-12-05

申请号：US18785121

申请日：2024-07-26

Applicant: Zhejiang University

Inventor： Yue Wang ,  Zhuqing Zhang ,  Jun Wu ,  Rong Xiong

IPC: G01C21/00 ,  G06T7/246 ,  G06V10/44 ,  G06V10/74

Abstract: A system includes three modules: a local odometry module, a map feature matching module, and a map-based positioning module, where the local odometry module is configured to receive data of a camera and an inertial measurement unit (IMU); the map feature matching module is configured to detect a similarity between a scene observed by the camera at a current moment and a pre-built map scene, and obtain a feature matching pair of an image feature at the current moment and a map feature; and the map-based positioning module is configured to receive an output amount of the local odometry and the feature matching pair. In the present invention, a maintained odometry-related variable and the relative transformation between a local odometry reference system and a pre-built map reference system are expressed in a Lie group, such that a new invariant Kalman filter (IKF) algorithm is obtained.

公开(公告)号：US11897143B2

公开(公告)日：2024-02-13

申请号：US17489798

申请日：2021-09-30

Applicant: ZHEJIANG UNIVERSITY

Inventor： Yue Wang ,  Tong Yang ,  Rong Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/36248 ,  G05B2219/40369

Abstract: The present disclosure provides a method for performing a non-revisiting coverage task by a manipulator with a least number of lift-offs, and relates to the technical field of manipulator path planning. By explicitly considering lift-offs of an end-effector from a surface of an object due to kinematic constraints when the manipulator performs a task of covering the surface of the object, this method transforms a problem of coverage path design into a problem of sub-cell decomposition and solves the problem to obtain an approach for the manipulator to cover a sub-cell. The method of the present disclosure minimizes the number of lift-offs of the end-effector from the surface of the object when the manipulator performs the coverage task.

公开(公告)号：US12030830B1

公开(公告)日：2024-07-09

申请号：US18545426

申请日：2023-12-19

Applicant: ZHEJIANG UNIVERSITY

Inventor： Jie Fan ,  Baohui Lou ,  Yue Wang ,  Shihui Zou

IPC: C07C1/20 ,  B01J21/04 ,  B01J21/10 ,  B01J29/08 ,  B01J29/40 ,  B01J29/70 ,  B01J29/85 ,  C07C1/22

CPC classification number: C07C1/22 ,  B01J21/04 ,  B01J21/10 ,  B01J29/082 ,  B01J29/084 ,  B01J29/40 ,  B01J29/7007 ,  B01J29/85 ,  C07C2529/08

Abstract: The present disclosure provides a method of preparing olefins from methanol, in which methanol and phenol-like molecules are used as raw material, which is gasified and then passed into a two-stage fixed-bed catalytic reactor. The raw material reacts with a catalyst A (silica-aluminum molecular sieve) and a catalyst B (silica-aluminum or phosphorus-aluminum molecular sieve) in sequence to produce ethylene.

公开(公告)号：US20240221174A1

公开(公告)日：2024-07-04

申请号：US18608929

申请日：2024-03-19

Applicant: Zhejiang University

Inventor： Yue Wang ,  Lilu Liu ,  Xiuping Nie ,  Rong Xiong

IPC: G06T7/194 ,  G06T7/00 ,  G06V10/40 ,  G06V10/764

CPC classification number: G06T7/194 ,  G06T7/0012 ,  G06V10/40 ,  G06V10/764 ,  G06T2207/10081 ,  G06T2207/20081 ,  G06T2207/30056

Abstract: A liver CT image segmentation system and algorithm based on mixed supervised learning is provided. The image segmentation system includes an image preprocessing unit, a feature extraction unit, a word vector segmentation unit and a single-layer convolutional classification unit. The image preprocessing unit is in data connection with the feature extraction unit. The feature extraction unit is respectively in data connection with the word vector segmentation unit and the single-layer convolutional classification unit. In the present disclosure, a multi-task framework is used for respectively performing segmentation and classification tasks, to achieve high segmentation precision through a large number of weak label data and a small number of strong labels.