公开(公告)号：US20250131178A1

公开(公告)日：2025-04-24

申请号：US18885497

申请日：2024-09-13

Applicant: Harbin Institute of Technology

Inventor： Huijun GAO ,  Zhengkai LI ,  Junhu CAO ,  Xinghu YU ,  Hao SUN ,  Jianbin QIU ,  Weichao SUN

IPC: G06F30/398 ,  G06F115/12 ,  G06N5/01 ,  H01L21/67

Abstract: A method for optimizing the placement process of a surface mounter using a heuristic adaptive tabu search is presented, relevant to surface-mount technology. The method includes encoding and decoding heuristic adaptive information link, where encoded information cover component allocation sequence, head sequence, heuristic algorithm selection, and pick-and-place path optimization sequence. The decoded results configure the component allocation algorithm and pick-and-place path optimization algorithm, and the optimized placement process is derived using these configured algorithms. The component allocation algorithm includes both the available feeder-oriented heuristic algorithm and the assigned feeder group-oriented heuristic algorithm, suitable for different feeder scenarios. Optimizing the selection of these algorithms achieves adaptive optimization for various production scenarios. The tabu search algorithm conducts neighborhood search operations on the adaptive information link, addressing component allocation and pick-and-place path optimization simultaneously. This approach synergistically optimizes the number of equivalent pick-up operations and pick-and-place path length, significantly enhancing production efficiency.

公开(公告)号：US20210252700A1

公开(公告)日：2021-08-19

申请号：US17150287

申请日：2021-01-15

Applicant: Harbin Institute of Technology

Inventor： Huijun GAO ,  Weiyang LIN ,  Chenlu LIU ,  Hao GUO ,  Xinghu YU ,  Mingsi TONG

IPC: B25J9/16 ,  G06K9/62

Abstract: The present disclosure relates to a visual servoing method based on fusion of distance space and image feature space. The method includes: constructing an image Jacobian matrix; constructing a depth Jacobian matrix; fusing the image Jacobian matrix and the depth Jacobian matrix, to obtain a hybrid visual servoing Jacobian matrix; and obtaining a robot motion control amount according to the hybrid visual servoing Jacobian matrix by using a control algorithm, to enable a robot to move to a target position, to complete precise positioning.

公开(公告)号：US20210333793A1

公开(公告)日：2021-10-28

申请号：US16931653

申请日：2020-07-17

Applicant: Harbin Institute of Technology

Inventor： Huijun GAO ,  Zhan LI ,  Xidi XUE ,  Weichao SUN ,  Xuebo YANG ,  Xinghu YU

IPC: G05D1/00 ,  G01S17/89 ,  G01S17/931 ,  G05D1/02 ,  G01C21/20

Abstract: The present invention relates to an indoor monocular navigation method based on cross-sensor transfer learning and a system thereof. Determining an preliminary autonomous navigation model according to simulated laser radar data; acquiring actual single-line laser radar data and monocular camera data of the mobile robot simultaneously in an actual environment; determining the heading angle of the mobile robot according to the actual laser radar data; determining a laser radar monocular vision navigation model, according to the generated heading angle of the mobile robot and the monocular camera data at a the same moment and by using a Resnet18 network and a pre-trained YOLO v3 network; determining a heading angle of the mobile robot at the current moment, according to the acquired monocular camera data and by using the laser radar monocular vision navigation model; performing navigation of the mobile robot.

公开(公告)号：US20200377843A1

公开(公告)日：2020-12-03

申请号：US16795696

申请日：2020-02-20

Applicant: Harbin Institute of Technology

Inventor： Huijun GAO ,  Mingsi TONG ,  Xinghu YU ,  Linqi ZHANG

IPC: C12M1/34 ,  A61M5/32 ,  C12N15/89 ,  C12M1/36 ,  G01F23/292 ,  A61M5/168

Abstract: The present invention provides an ultra-microinjection detection and control device based on lensless imaging and a method thereof. A lensless optical liquid level sensor is used to measure a change of a liquid level in an injection needle. A microinjection control unit is used to track the change of the liquid level and correct an injection pressure of the injection pump. Transmitted light generated by a parallel light source passes through a transparent glass tube of the injection needle. Then the transmitted light passes through a light filtering film to reduce the intensity of the parallel light source to a photosensitivity range of a micro linear array image sensor chip. Finally, the transmitted light enters the micro linear array image sensor chip, so that the micro linear array image sensor chip measures the change of the liquid level in the injection needle.