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1. 发明授权

US06445983B1 Sensor-fusion navigator for automated guidance of off-road vehicles 有权
标题翻译：传感器融合导航仪，用于越野车辆的自动化引导
公开(公告)号：US06445983B1
公开(公告)日：2002-09-03
申请号：US09611510
申请日：2000-07-07
申请人： Monte A. Dickson , Noboru Noguchi , Qin Zhang , John F. Reid , Jeffrey D. Will
发明人： Monte A. Dickson , Noboru Noguchi , Qin Zhang , John F. Reid , Jeffrey D. Will
IPC分类号： G05D100
CPC分类号： G01C21/165 , A01B69/008 , G05D1/0246 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0201
摘要： An automatically guided agricultural vehicle with multiple sensors is disclosed. The automatically guided agricultural vehicle includes guidance parameter identification using multi-sensor data fusion for real-time vehicle guidance. To insure robust navigation, a map-based guidance and sensor-based guidance are disclosed and integrated because no individual sensing technology is ideally suited for vehicle automation under all modes of use. The appropriate sensor and operational mode will depend on the field status of time or operation. A fiber optic gyroscope (FOG) and a real-time kinematic GPS (RTK-GPS) and machine vision are added to the guidance system in order to improve reliability of the system for vehicle guidance. The navigator includes key functions of selecting control mode, correcting position by vehicle roll/pitch inclinations, Kalman filtering, and calculating a steering angle.
摘要翻译：公开了一种具有多个传感器的自动导向农用车辆。自动引导的农用车辆包括使用多传感器数据融合进行实时车辆引导的引导参数识别。为了确保强大的导航，基于地图的指导和基于传感器的指导被公开和集成，因为没有任何个别的感测技术在所有使用模式下都非常适用于车辆自动化。适当的传感器和操作模式将取决于时间或操作的现场状态。为了提高车辆引导系统的可靠性，在引导系统中增加了光纤陀螺仪（FOG）和实时运动学GPS（RTK-GPS）和机器视觉。导航仪包括选择控制模式，通过车辆滚动/俯仰倾斜校正位置，卡尔曼滤波和计算转向角度的关键功能。

2. 发明授权

US06898585B2 Fuzzy logic method for adaptively evaluating the validity of sensor data 有权
标题翻译：用于自适应评估传感器数据有效性的模糊逻辑方法
公开(公告)号：US06898585B2
公开(公告)日：2005-05-24
申请号：US09775896
申请日：2001-02-02
申请人： Eric R. Benson , Qin Zhang , John F. Reid
发明人： Eric R. Benson , Qin Zhang , John F. Reid
IPC分类号： G05B9/02 , G06F9/44
CPC分类号： G05B9/02
摘要： Machine operators rely on intuition and experience to evaluate vehicle performance. As we increasingly turn to automation, it is important to automatically evaluate sensor data and system performance. Fuzzy logic allows us to take advantage of domain knowledge to evaluate data and to describe a system linguistically. In this application a fuzzy quality module evaluates output from a noisy sensor. It compares the sensor data with an estimated sensor value, and based on that comparison, dynamically adapts a fuzzy logic rulebase used to determine whether the sensor value is valid or not.
摘要翻译：机器操作员依靠直观和经验来评估车辆性能。随着我们越来越多地转向自动化，重要的是自动评估传感器数据和系统性能。模糊逻辑允许我们利用领域知识来评估数据并在语言学上描述系统。在该应用中，模糊质量模块评估噪声传感器的输出。它将传感器数据与估计的传感器值进行比较，并且基于该比较，动态地适应用于确定传感器值是否有效的模糊逻辑规则库。

3. 发明授权

US06819780B2 Method and apparatus for automatically steering a vehicle in an agricultural field using a plurality of fuzzy logic membership functions 有权
标题翻译：使用多个模糊逻辑隶属函数在农田中自动驾驶车辆的方法和装置
公开(公告)号：US06819780B2
公开(公告)日：2004-11-16
申请号：US09776090
申请日：2001-02-02
申请人： Eric Benson , Qin Zhang , John F. Reid
发明人： Eric Benson , Qin Zhang , John F. Reid
IPC分类号： G06K900
CPC分类号： B62D1/28 , A01B69/001 , A01B69/008 , B60W2050/0057 , B60W2300/15 , B60W2550/00 , G01C11/00 , G05D1/0246 , G05D2201/0201
摘要： A combine having a camera system is disclosed in which pictures of the ground in front of the vehicle are processed to extract the slope and intercept of a characteristic line indicative of the boundary between the cut and uncut portions of the field. A fuzzy logic algorithm compares the slope and intercept using four input membership functions and a single output membership function. If the slope and intercept extracted from the image are deemed acceptable, they are used to navigate the vehicle through the field. If they are not acceptable, the combine continues to use slope and intercept values previously deemed acceptable to guide the vehicle. This process of image data extraction and quality analysis continues repetitively as the combine traverses the field harvesting crops.
摘要翻译：公开了一种具有照相机系统的组合体，其中对车辆前方的地面图像进行处理，以提取表示该场的切割部分与未切割部分之间边界的特征线的斜率和截距。模糊逻辑算法使用四个输入隶属函数和单个输出隶属函数来比较斜率和截距。如果从图像提取的斜率和截距被认为是可接受的，则它们被用于通过场来导航车辆。如果不能接受，则组合继续使用先前认为可接受的斜率和截距值来引导车辆。这种图像数据提取和质量分析过程在组合遍历田间采收作物后，会持续反复进行。

4. 发明授权

US06714662B1 Method and apparatus for determining the quality of an image of an agricultural field using a plurality of fuzzy logic input membership functions 有权
标题翻译：使用多个模糊逻辑输入隶属度函数来确定农田的图像的质量的方法和装置
公开(公告)号：US06714662B1
公开(公告)日：2004-03-30
申请号：US09612851
申请日：2000-07-10
申请人： Eric R. Benson , Qin Zhang , John F. Reid
发明人： Eric R. Benson , Qin Zhang , John F. Reid
IPC分类号： G06K900
CPC分类号： G06K9/00664 , A01D41/127 , G06K9/00791 , G06T7/70 , G06T2207/30161
摘要： A combine having a camera system is disclosed in which pictures of the ground in front of the vehicle are processed to extract the slope and intercept of a characteristic line indicative of the boundary between the cut and uncut portions of the field. A fuzzy logic algorithm compares the slope and intercept using four input membership functions and a single output membership function. If the slope and intercept extracted from the image are deemed acceptable, they are used to navigate the vehicle through the field. If they are not acceptable, the combine continues to use slope and intercept values previously deemed acceptable to guide the vehicle. This process of image data extraction and quality analysis continues repetitively as the combine traverses the field harvesting crops.
摘要翻译：公开了一种具有照相机系统的组合体，其中对车辆前方的地面图像进行处理，以提取表示该场的切割部分与未切割部分之间边界的特征线的斜率和截距。模糊逻辑算法使用四个输入隶属函数和单个输出隶属函数来比较斜率和截距。如果从图像提取的斜率和截距被认为是可接受的，则它们被用于通过场来导航车辆。如果不能接受，则组合继续使用先前认为可接受的斜率和截距值来引导车辆。这种图像数据提取和质量分析过程在组合遍历田间采收作物后，会持续反复进行。

5. 发明授权

US06442463B1 Fuzzy steering controller 有权
标题翻译：模糊转向控制器
公开(公告)号：US06442463B1
公开(公告)日：2002-08-27
申请号：US09781019
申请日：2001-02-09
申请人： Hongchu Qiu , Qin Zhang , John F. Reid
发明人： Hongchu Qiu , Qin Zhang , John F. Reid
IPC分类号： G06F1900
CPC分类号： B62D1/28 , B62D6/00 , G05B13/0275 , Y10S706/905
摘要： A fuzzy steering controller for wheel-type agricultural vehicles with an electrohydraulic steering system is disclosed. The fuzzy controller was developed based on a common-sense model of agricultural vehicle steering. The controller implements steering corrections based upon the desired steering rate and the error between the desired and the actual wheel angles. The controller consists of a variable fuzzifier, an inference engine with a steering control rulebase, and a control signal defuzzifier. The controller could be used on different platforms. Tuning of the fuzzy membership functions will accommodate for physical differences between the platforms. The controller achieves prompt and accurate steering control performance on both a hardware-in-the-loop electrohydraulic steering simulator and on an agricultural tractor.
摘要翻译：公开了一种具有电动液压转向系统的轮式农用车辆的模糊转向控制器。模糊控制器是基于农用车辆转向的常识模型而开发的。控制器基于期望的转向速率和期望的和实际的车轮角度之间的误差来实现转向校正。控制器由可变模糊器，具有转向控制规则库的推理机和控制信号去模糊器组成。控制器可以在不同的平台上使用。调整模糊隶属函数将适应平台之间的物理差异。控制器在硬件在环电动液压转向模拟器和农用拖拉机上实现快速准确的转向控制性能。

6. 发明授权

US06721453B1 Method and apparatus for processing an image of an agricultural field 有权
标题翻译：用于处理农田图像的方法和装置
公开(公告)号：US06721453B1
公开(公告)日：2004-04-13
申请号：US09612688
申请日：2000-07-10
申请人： Eric R. Benson , Qin Zhang , John F. Reid
发明人： Eric R. Benson , Qin Zhang , John F. Reid
IPC分类号： G06K948
CPC分类号： G05D1/0246 , G05D1/0221 , G05D2201/0201 , G06T7/13 , G06T7/143 , G06T2207/30188 , G06T2207/30256
摘要： A method and apparatus for detecting an edge between a cut crop and an uncut crop in a field is disclosed. At least two scanlines of pixel data are processed based on an image of the field. A characteristic line corresponding to the cut/uncut edge is best fit between center location points of segments from each scanline using sequential regression analysis. A fuzzy logic algorithm is used to determine whether to continue processing each successive scanline of data based on the quality of the characteristic line. If certain fuzzy membership functions determine that the slope and intercept values have sufficiently converged, processing of the scanlines is completed and the agricultural vehicle is automatically guided along the cut/uncut edge corresponding to the characteristic line.
摘要翻译：公开了一种在场中检测切割作物和未切割作物之间的边缘的方法和装置。基于场的图像来处理像素数据的至少两个扫描线。使用顺序回归分析，对应于切割/未切割边缘的特征线最适合来自每条扫描线的段的中心位置点。基于特征线的质量，使用模糊逻辑算法来确定是否继续处理每个连续的数据扫描线。如果某些模糊隶属函数确定斜率和截距值已经充分收敛，则完成扫描线的处理，并且沿着与特征线相对应的切割/未切割边缘自动地引导农用车辆。

7. 发明授权

US10174963B2 Smart building HVAC energy management system 有权
公开(公告)号：US10174963B2
公开(公告)日：2019-01-08
申请号：US15190201
申请日：2016-06-23
申请人： Qin Zhang
发明人： Qin Zhang
IPC分类号： F24F11/30 , F24F3/00 , F24F3/052 , F24F3/048 , F24D19/10 , F24F11/70 , F24F11/46
摘要： The present invention relates to a system and method of HVAC (Heating, Ventilating, Air Conditioning) energy management system. More specially, the present invention provides a system and method that can provide automatic optimized control mechanism for HVAC system to save energy.

8. 发明授权

US09360352B2 Method for determining lightning hazard distribution of power network 有权
标题翻译：确定电网雷电危险分布的方法
公开(公告)号：US09360352B2
公开(公告)日：2016-06-07
申请号：US12811594
申请日：2009-04-07
申请人： Jiahong Chen , Jian Wang , Xuefang Tong , Yaxin Liu , Qin Zhang , Yi Luo , Haitao Wang , Wanxing Feng , Shanqiang Gu , Xiaolan Li
发明人： Jiahong Chen , Jian Wang , Xuefang Tong , Yaxin Liu , Qin Zhang , Yi Luo , Haitao Wang , Wanxing Feng , Shanqiang Gu , Xiaolan Li
IPC分类号： G01D21/00 , G06Q50/06
CPC分类号： G01D21/00 , G06Q50/06 , Y04S10/60
摘要： A method for determining a lightning hazard distribution of a power network, includes: deriving a shielding failure lightning hazard distribution of the power network and a back flashover lightning hazard distribution of the power network from the number of ground lightning in each grid and ranges of hazardous currents, and deriving a historical lightning hazard distribution of the power network from a lightning faults database of the power network and the grids; and determining the lightning hazard distribution of the power network by integrating the shielding failure lightning hazard distribution of the power network, the back flashover lightning hazard distribution of the power network and the historical lightning hazard distribution of the power network.
摘要翻译：一种确定电力网雷电危险分布的方法，包括：从每个电网中的地面雷电数量导出电网的屏蔽故障雷电危险分布和电网的背闪电雷击危险分布，以及危险范围并从电力网络和电网的雷击故障数据库中导出电力网络的历史雷电灾害分布; 通过整合电网屏蔽故障雷电危害分布，电网背后闪电雷电危害分布和电网历史闪电危险分布，确定电网雷电危害分布。

9. 发明授权

US09277492B2 Enhancement to PLMN selection process while roaming 有权
标题翻译：漫游时增强PLMN选择过程
公开(公告)号：US09277492B2
公开(公告)日：2016-03-01
申请号：US13560929
申请日：2012-07-27
申请人： Ben-Heng Juang , Qin Zhang , Ravi Ayyappan
发明人： Ben-Heng Juang , Qin Zhang , Ravi Ayyappan
IPC分类号： H04W8/10 , H04W8/18 , H04W8/02 , H04W48/18 , H04W8/12
CPC分类号： H04W48/18 , H04W8/02 , H04W8/10 , H04W8/12 , H04W8/18
摘要： A method and apparatus for a mobile wireless device configured to adaptively scan for a preferred wireless network while roaming is described. In one embodiment, at least a portion of a database including characteristic information regarding wireless networks can be stored within the mobile wireless device. Network characteristic information can include mobile country codes, mobile network codes, location area codes and cell-IDs. When the mobile wireless device is connected to a network that is not a preferred network, the mobile wireless device can use the database information in conjunction with characteristics from a connected wireless network to determine when to scan for the preferred wireless network.
摘要翻译：描述了用于移动无线设备的方法和装置，其被配置为在漫游时自适应地扫描优选的无线网络。在一个实施例中，包括关于无线网络的特征信息的数据库的至少一部分可以存储在移动无线设备内。网络特征信息可以包括移动国家代码，移动网络代码，位置区域代码和小区ID。当移动无线设备连接到不是优选网络的网络时，移动无线设备可以结合来自连接的无线网络的特性来使用数据库信息来确定何时扫描优选的无线网络。

10. 发明授权

US08712144B2 System and method for detecting crop rows in an agricultural field 有权
标题翻译：用于检测农田中作物排的系统和方法
公开(公告)号：US08712144B2
公开(公告)日：2014-04-29
申请号：US10817900
申请日：2004-04-06
申请人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： G06K9/00664 , G06K9/209 , G06T7/593 , G06T2207/30128
摘要： A system and method for creating 3-dimensional agricultural field scene maps are disclosed comprising producing a pair of images using a stereo camera and creating a disparity images based on the pair of images, the disparity image being a 3-dimensional representation of the stereo images. Coordinate arrays can be produced from the disparity image and the coordinate arrays can be used to render a 3-dimensional local map of the agricultural field scene. Global maps can also be made by using geographic location information associated with various local maps to fuse together multiple local maps into a 3-dimensional global representation of the field scene.
摘要翻译：公开了一种用于创建三维农业场景地图的系统和方法，包括使用立体相机产生一对图像，并基于该对图像创建视差图像，视差图像是立体图像的三维表示。可以从视差图像产生坐标阵列，坐标阵列可用于渲染农田场景的三维局部地图。全球地图也可以通过使用与各种局部地图相关联的地理位置信息来将多个局部地图映射到场景的三维全局表示中。

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