公开(公告)号：US11689737B1

公开(公告)日：2023-06-27

申请号：US18065530

申请日：2022-12-13

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Yuanyang Wei ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

IPC: H04N7/12 ,  H04N19/513 ,  H04N19/172

CPC classification number: H04N19/513 ,  H04N19/172

Abstract: Disclosed are a plane coding target and an image splicing system and method applying the same. The plane coding target comprises a plurality of coding units distributed in an array, the coding unit comprises one central coding point, a plurality of normal coding points and at least one positioning point, and a positioning point distribution style of the positioning point is used for determining coordinates of the central coding point and the normal coding points in a coding unit coordinate system; and coding numerical value sequences of the coding units are different from each other and unique. The plane coding target can realize large-area coding and positioning functions, and the image splicing system applying the plane coding target can solve the problems of splicing error and error accumulation caused by an identification error of a splicing location, thus realizing large-range, high-precision and short-time two-dimensional image splicing.

公开(公告)号：US12078475B2

公开(公告)日：2024-09-03

申请号：US18423054

申请日：2024-01-25

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Yizhong Zhuang ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

IPC: G01B11/25 ,  G06T7/73 ,  G06T7/80 ,  G06T17/00 ,  H04N13/239

CPC classification number: G01B11/2545 ,  G06T7/75 ,  G06T7/85 ,  G06T17/00 ,  H04N13/239 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30204 ,  G06T2210/56

Abstract: A three-dimensional measurement method combines the three-step phase shift method to embed the marker line information into the sinusoidal stripe pattern to obtain the target stripe pattern. The target stripe pattern is projected onto the surface of the object to be measured, and the wrapped phase image, mean intensity image and modulated intensity image of the stripe pattern collected by the left and right cameras are solved. The mask image according to the mean intensity image and modulation intensity image is solved to extract the marker line. The spatial phase unwrapping starting from the marker line in the wrapped phase image is performed to obtain the spatial phase. The spatial phase matching based on the unique correspondence between the left and right cameras based on the spatial phase of the marker line is performed, the best matching point of the right camera is obtained.

公开(公告)号：US12034355B2

公开(公告)日：2024-07-09

申请号：US18430711

申请日：2024-02-02

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Junhao Yi ,  Lanyu Zhang ,  Haixiang Deng

IPC: F16F15/04 ,  F16F15/02 ,  H02K5/24 ,  H02K11/21 ,  H02K33/18

CPC classification number: H02K5/24 ,  F16F15/021 ,  H02K11/21 ,  F16F2228/063 ,  F16F2232/08 ,  H02K33/18

Abstract: A voice coil motor direct-driven active vibration isolation and leveling integrated platform. The voice coil motor direct-drive active vibration isolation and leveling integrated platform includes a moving platform, a base, a driving mechanism and a vibration isolation and leveling composite mechanism; the moving platform is rotatably disposed on the base around the X-axis and the Y-axis through the vibration isolation and leveling composite mechanism; the driving mechanism is used to drive the moving platform to perform leveling movement, and the force exerted by the driving mechanism on the moving platform is distributed symmetrically around the circumference of the moving platform.

公开(公告)号：US11741660B2

公开(公告)日：2023-08-29

申请号：US17985272

申请日：2022-11-11

Applicant: Guangdong University of Technology

Inventor： Zhuojun Zheng ,  Jian Gao ,  Lanyu Zhang ,  Haixiang Deng

IPC: G06T15/08 ,  G06T15/00

CPC classification number: G06T15/08 ,  G06T15/005

Abstract: A structured light 3D measurement device and method based on defocus-degree-based unwrapping. Binary fringes varying in fringe width are projected onto an object, and a corresponding fringe image is collected by a camera, and then subjected to phase demodulation to calculate a wrapped phase. The defocus degree is calculated according to modulation degrees of the binary fringes. The defocus degree is plugged into the defocusing phase function to obtain a normalized reference phase. The wrapped phase is subjected to phase unwrapping based on the normalized reference phase to obtain an absolute phase to reconstruct a 3D point cloud.

公开(公告)号：US11699244B2

公开(公告)日：2023-07-11

申请号：US17988096

申请日：2022-11-16

Applicant: Guangdong University of Technology

Inventor： Jian Gao ,  Yuanyang Wei ,  Lanyu Zhang ,  Yongbin Zhong ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

IPC: G06K9/00 ,  G06T7/70 ,  G06T9/00

CPC classification number: G06T7/70 ,  G06T9/001

Abstract: A real-time pose measurement method of a planar coding target for a vision system. The planar coding target includes a plurality of coding elements, a coding block, a coding template, a minimum identification unit pattern and a coding pattern. Each coding element has a unique coding value, and serial numbers of the coding elements are different from each other. The coding block includes four coding elements that are distributed in the same rectangle ABCD and do not overlap with each other. A center of the coding block is an intersection point O of two diagonals of the rectangle ABCD. A coding value of the coding block is associated with coding values of the four coding elements contained therein.

公开(公告)号：US11994838B1

公开(公告)日：2024-05-28

申请号：US18583904

申请日：2024-02-22

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guixin Zhang ,  Yuheng Luo ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

IPC: G05B19/4103

CPC classification number: G05B19/4103 ,  G05B2219/34169

Abstract: A five-axis linkage synchronous tool path interpolation method and system, which utilizes the strict proportional coefficient relationship between points, control points and parameters on the first-order derivative curve of the spline curve, more accurate tool axis path curve interpolation points from the parameters of the tool tip path curve are calculated. There is no need to calculate the tool axis path curve interpolation points according to interval synchronization. It is not affected by the shape consistency of the tool tip path curve and the tool axis path curve.

公开(公告)号：US11919177B1

公开(公告)日：2024-03-05

申请号：US18482887

申请日：2023-10-08

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Zhenyu Zheng ,  Zhuojun Zheng ,  Lanyu Zhang ,  Yuheng Luo ,  Haixiang Deng ,  Xin Chen

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  B25J9/1697

Abstract: A tracking measurement method, apparatus and device for a pose of a tail end of a manipulator. The method comprises: shooting a first calibration board mounted at the tail end of the manipulator by a monocular measurement camera, acquiring multiple sets of first transformation matrices, and mounting the monocular measurement camera on a pitch axis of a pan-tilt; shooting a second calibration board by a global camera, and acquiring multiple sets of second transformation matrices; when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator; and when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle, and adjusting the pitch axis and a horizontal axis of the pan-tilt.

公开(公告)号：US11709467B2

公开(公告)日：2023-07-25

申请号：US17991936

申请日：2022-11-22

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guixin Zhang ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Yunbo He ,  Xin Chen

IPC: G05B19/04 ,  G06F17/16

CPC classification number: G05B19/041 ,  G06F17/16

Abstract: A time optimal speed planning method and system based on constraint classification. The method comprises: reading path information and carrying out curve fitting to obtain a path curve; sampling the path curve, and considering static constraint to obtain a static upper bound value of a speed curve; considering dynamic constraint, and combining the static upper bound value of the speed curve to construct a time optimal speed model; carrying out convex transformation on the time optimal speed model to obtain a convex model; and solving the convex model based on a quadratic sequence planning method to obtain a final speed curve. The system comprises: a path curve module, a static constraint module, a dynamic constraint module, a model transformation module and a solving module.

公开(公告)号：US12237298B1

公开(公告)日：2025-02-25

申请号：US18914153

申请日：2024-10-12

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Jian Gao ,  Guocong Chen ,  Lanyu Zhang ,  Haixiang Deng

IPC: H01L23/00 ,  G05B19/4155

Abstract: A cooperative bonding method for a bonding head of a wire bonding machine, including setting an initial height value of the vertical lifting mechanism to be a difference value; upon receiving a bonding instruction, controlling the bonding head to perform an positioning operation on the target processing chip, controlling the vertical lifting mechanism to descend a preset distance; during the positioning operation of the bonding head on the target processing chip, when the acceleration motion and the overshoot is completed, controlling the vertical lifting mechanism to rise back; and during the rise back process, the pad of the chip does not exceed a residual vibration curve of the bonding head. This achieves the technical effect of improving the bonding efficiency of the bonding head within a small searching area while avoiding impacts on the chip caused by the overshoot during high acceleration positioning of the bonding head.

公开(公告)号：US11823405B1

公开(公告)日：2023-11-21

申请号：US18154557

申请日：2023-01-13

Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

Inventor： Zhuojun Zheng ,  Jian Gao ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

IPC: G06T7/521 ,  G01C3/02

CPC classification number: G06T7/521 ,  G01C3/02 ,  G06T2207/10028

Abstract: A three-dimensional measurement method comprises: converting a total number of levels of sawtooth fringes into a Gray code and acquiring a sawtooth slope coefficient; fusing the coefficient into a sawtooth fringe image to generate a target sawtooth fringe pattern; projecting each target sawtooth fringe pattern to a surface of a to-be-measured object through a projector, and collecting a deformed target sawtooth fringe pattern on the surface through a camera; solving a Gray code of each sawtooth fringe collection pattern at each pixel point according to a differential property of adjacent pixels in each sawtooth fringe collection pattern and solving a fringe level and a wrapped phase at each pixel point; calculating an absolute phase at each pixel point according to the fringe level and the wrapped phase at each pixel point, and reconstructing a three-dimensional point cloud through triangulation ranging to obtain a three-dimensional model of the to-be-measured object.