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1. 发明授权

US09778719B2 Ubiquitous energy network for achieving optimized utilization of energy and method for providing energy transaction and service 有权
公开(公告)号：US09778719B2
公开(公告)日：2017-10-03
申请号：US13695403
申请日：2011-04-29
申请人： Zhongxue Gan , Binshen Meng , Zhengjian Liu , An Wei , Qing Tang , Fan Zhang
发明人： Zhongxue Gan , Binshen Meng , Zhengjian Liu , An Wei , Qing Tang , Fan Zhang
IPC分类号： G05D5/00 , G05D9/00 , G05D11/00 , G05D17/00 , G06F1/32 , G06Q10/04 , G06Q50/06
CPC分类号： G06F1/3203 , G06Q10/04 , G06Q50/06
摘要： There discloses a ubiquitous energy network for optimum utilization of energy, which includes nodes connected by an interconnected network architecture of virtual pipelines transferring a ubiquitous energy flow, with the ubiquitous energy flow being transferred among the nodes bi-directionally. The node includes a system energy efficiency controller, and at least one of other nodes, an energy generation device, an energy storage device, an energy utilization device, and an energy regeneration device connected to the controller. The controller controls the input and output of the ubiquitous energy flow of the at least one of the other nodes, the energy generation device, the energy storage device, the energy utilization device, the energy regeneration device. Furthermore, the node, an access terminal, a virtual tag, and the virtual pipeline of the ubiquitous energy network, and a server and method for providing energy transaction and service by the ubiquitous energy network are disclosed.

2. 发明申请

US20130238158A1 SMART ENERGY NETWORK FOR ACHIEVING OPTIMUM UTILIZATION OF ENERGY AND METHOD FOR PROVIDING ENERGY TRADING AND SERVICE 有权
标题翻译：实现能源最佳利用的智能能源网络和提供能源贸易和服务的方法
公开(公告)号：US20130238158A1
公开(公告)日：2013-09-12
申请号：US13695403
申请日：2011-04-29
申请人： Zhongxue Gan , Binshen Meng , Zhengjian Liu , An Wei , Qing Tang , Fan Zhang
发明人： Zhongxue Gan , Binshen Meng , Zhengjian Liu , An Wei , Qing Tang , Fan Zhang
IPC分类号： G06F1/32
CPC分类号： G06F1/3203 , G06Q10/04 , G06Q50/06
摘要： There discloses a ubiquitous energy network for optimum utilization of energy, which includes nodes connected by an interconnected network architecture of virtual pipelines transferring a ubiquitous energy flow, with the ubiquitous energy flow being transferred among the nodes bi-directionally. The node includes a system energy efficiency controller, and at least one of other nodes, an energy generation device, an energy storage device, an energy utilization device, and an energy regeneration device connected to the controller. The controller controls the input and output of the ubiquitous energy flow of the at least one of the other nodes, the energy generation device, the energy storage device, the energy utilization device, the energy regeneration device. Furthermore, the node, an access terminal, a virtual tag, and the virtual pipeline of the ubiquitous energy network, and a server and method for providing energy transaction and service by the ubiquitous energy network are disclosed.
摘要翻译：公开了一种无处不在的能量网络，用于能量的最佳利用，其中包括通过传播无处不在的能量流的虚拟管道的互连网络架构连接的节点，双向节点之间传播的无处不在的能量流。节点包括系统能量效率控制器，以及其他节点中的至少一个，能量产生装置，能量存储装置，能量利用装置和连接到控制器的能量再生装置。控制器控制其他节点中的至少一个，能量产生装置，能量存储装置，能量利用装置，能量再生装置的无处不在的能量流的输入和输出。此外，公开了无处不在的能量网络的节点，接入终端，虚拟标签和虚拟管道，以及用于通过无处不在的能量网络提供能量交易和服务的服务器和方法。

3. 发明授权

US5572449A Automatic vehicle following system 失效
标题翻译：自动车辆跟随系统
公开(公告)号：US5572449A
公开(公告)日：1996-11-05
申请号：US245865
申请日：1994-05-19
申请人： Qing Tang , Wei-Ping Wang , Zhongxue Gan , Ruiming Zhang , John Moh
发明人： Qing Tang , Wei-Ping Wang , Zhongxue Gan , Ruiming Zhang , John Moh
IPC分类号： B60K31/00 , B60T7/22 , G01S13/93 , B60T7/16
CPC分类号： B60T7/22 , B60K31/0008 , B60W2550/402 , G01S2013/9321
摘要： An automatic vehicle following system is provided for controlling a following vehicle to maintain at least a predetermined distance behind a preceding vehicle and to substantially follow the path of the preceding vehicle. An on-line measurement system of the preceding vehicle generates signals indicative of the velocity (having speed and directional components) of the preceding vehicle, and a communication system transmits the velocity signals to the following vehicle. The following vehicle likewise has a communication system for receiving the signals from the preceding vehicle, and an on-line measurement system for providing signals indicative of the velocity of the following vehicle and signals indicative of the distance between the two vehicles. A signal processing system of the following vehicle is coupled to the communication system and on-line measurement system for estimating motion trajectory of the preceding vehicle based on the difference in the velocities of the preceding and following vehicles and the following distance. A control system generates control signals and takes action so as to perform speed control and maintain at least a predetermined safe following distance between the two vehicles, and steering control to substantially follow the path of the preceding vehicle.
摘要翻译：提供了一种自动车辆跟随系统，用于控制后续车辆至少保持在前一车辆后面的预定距离并且基本上跟随前方车辆的路径。前一车辆的在线测量系统产生指示前一车辆的速度（具有速度和方向分量）的信号，并且通信系统将速度信号发送到随后的车辆。以下车辆同样具有用于接收来自前一车辆的信号的通信系统和用于提供表示随后车辆的速度的信号的在线测量系统以及指示两车辆之间的距离的信号。以下车辆的信号处理系统耦合到通信系统和在线测量系统，用于基于前一车辆和后续车辆的速度的差异以及随后的距离来估计前一车辆的运动轨迹。控制系统产生控制信号并采取动作以便执行速度控制并且保持两辆车辆之间至少预定的安全跟随距离，并且转向控制基本上跟随前方车辆的路径。

4. 发明申请

US20130073098A1 SYSTEM ENERGY EFFICIENCY CONTROLLER, ENERGY EFFICIENCY GAIN DEVICE AND SMART ENERGY SERVICE SYSTEM USED FOR ENERGY UTILIZATION 有权
标题翻译：系统能源效率控制器，能源效率增益装置和用于能源利用的智能能源服务系统
公开(公告)号：US20130073098A1
公开(公告)日：2013-03-21
申请号：US13695153
申请日：2011-04-29
申请人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
发明人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
IPC分类号： G05B19/02
CPC分类号： G05B19/02 , H02J3/32 , H02J3/38 , H02J3/381 , H02J3/382 , H02J3/383 , H02J3/386 , Y02E10/563 , Y02E10/566 , Y02E10/763 , Y02E70/30 , Y02P80/114
摘要： A system energy efficiency controller connected (105) to at least one of an energy generation device (101), an energy storage device (102), an energy utilization device (103) and an energy regeneration device (104) is disclosed for enabling energy utilization. Said system energy efficiency controller (105) cooperatively controls the input and output of a ubiquitous energy flow of at least one of the energy generation device (101), the energy storage device (102), the energy utilization device (103) and the energy regeneration device (104). Said ubiquitous energy flow includes at least one of an energy flow, a material flow, and an information flow. Also disclosed are an energy efficiency gain device, an energy efficiency matching station and a smart energy service system, which are connected with the controller (105). The present invention optimizes the entire process of energy utilization using the system energy efficiency controller (105), thus improving the system energy efficiency.
摘要翻译：公开了一种将系统能量效率控制器（105）连接到能量产生装置（101），能量存储装置（102），能量利用装置（103）和能量再生装置（104）中的至少一个上，以使能量利用率。所述系统能量效率控制器（105）协同地控制能量产生装置（101），能量存储装置（102），能量利用装置（103）和能量中的至少一个的无处不在的能量流的输入和输出再生装置（104）。所述普遍存在的能量流包括能量流，材料流和信息流中的至少一个。还公开了与控制器（105）连接的能量效率增益装置，能量效率匹配台和智能能源服务系统。本发明使用系统能量效率控制器（105）优化整个能量利用过程，从而提高系统能量效率。

5. 发明授权

US5751610A On-line robot work-cell calibration 失效
标题翻译：在线机器人工作单元校准
公开(公告)号：US5751610A
公开(公告)日：1998-05-12
申请号：US741898
申请日：1996-10-31
申请人： Zhongxue Gan , Lance Terrance Fitzgibbons , Qing Tang , Jeffrey Sherman Katz
发明人： Zhongxue Gan , Lance Terrance Fitzgibbons , Qing Tang , Jeffrey Sherman Katz
IPC分类号： F22B37/00 , G01C25/00
CPC分类号： F22B37/003
摘要： The work cell is divided into a plurality of calibration zones, and calibration is made with only one measured point in each zone. The calibration zones are set up such that the calibration error in each zone remains within an acceptable tolerance. Within each zone, calibration is preferably made according to a linear calibration algorithm. The method according to the invention includes the steps of storing a first database, of the coordinates of all the tube openings in the tube sheet coordinate system. Each coordinate of the first database is assigned to one of a plurality of calibration zones.
摘要翻译：工作单元被分成多个校准区域，并且在每个区域中仅用一个测量点进行校准。设置校准区域使得每个区域中的校准误差保持在可接受的公差范围内。在每个区域内，优选根据线性校准算法进行校准。根据本发明的方法包括以下步骤：在管板坐标系中存储所有管开口的坐标的第一数据库。将第一数据库的每个坐标分配给多个校准区域中的一个。

6. 发明授权

US06812665B2 In-process relative robot workcell calibration 失效
标题翻译：过程中相对机器人工作单元校准
公开(公告)号：US06812665B2
公开(公告)日：2004-11-02
申请号：US10126988
申请日：2002-04-19
申请人： Zhongxue Gan , Yunquan Sun , Qing Tang
发明人： Zhongxue Gan , Yunquan Sun , Qing Tang
IPC分类号： G05B1919
CPC分类号： B25J9/1692 , G05B2219/39015 , G05B2219/39021 , G05B2219/39044
摘要： A relative calibration system and method for robot workcell calibration is capable of correcting errors between the robot tool center point (TCP) and the work-object frame according to a relative reference, in that a precision path will be created based on this calibrated workcell.
摘要翻译：用于机器人工作单元校准的相对校准系统和方法能够根据相对参考来校正机器人工具中心点（TCP）和工作对象框架之间的错误，因为将基于该校准的工作单元创建精确路径。

7. 发明授权

US09690275B2 System energy efficiency controller, energy efficiency gain device and smart energy service system used for energy utilization 有权
公开(公告)号：US09690275B2
公开(公告)日：2017-06-27
申请号：US13695153
申请日：2011-04-29
申请人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
发明人： Zhongxue Gan , Hao Wu , Qing Tang , Jinlai Li , Zhenlei Fang , Tao Liu
IPC分类号： G05B19/02 , H02J3/32 , H02J3/38
CPC分类号： G05B19/02 , H02J3/32 , H02J3/38 , H02J3/381 , H02J3/382 , H02J3/383 , H02J3/386 , Y02E10/563 , Y02E10/566 , Y02E10/763 , Y02E70/30 , Y02P80/114
摘要： A system energy efficiency controller connected (105) to at least one of an energy generation device (101), an energy storage device (102), an energy utilization device (103) and an energy regeneration device (104) is disclosed for enabling energy utilization. Said system energy efficiency controller (105) cooperatively controls the input and output of a ubiquitous energy flow of at least one of the energy generation device (101), the energy storage device (102), the energy utilization device (103) and the energy regeneration device (104). Said ubiquitous energy flow includes at least one of an energy flow, a material flow, and an information flow. Also disclosed are an energy efficiency gain device, an energy efficiency matching station and a smart energy service system, which are connected with the controller (105). The present invention optimizes the entire process of energy utilization using the system energy efficiency controller (105), thus improving the system energy efficiency.

8. 发明授权

US5878151A Moving object tracking 失效
标题翻译：移动对象跟踪
公开(公告)号：US5878151A
公开(公告)日：1999-03-02
申请号：US740702
申请日：1996-10-31
申请人： Qing Tang , Zhongxue Gan , Jeffrey Sherman Katz , Lance Terrance Fitzgibbons
发明人： Qing Tang , Zhongxue Gan , Jeffrey Sherman Katz , Lance Terrance Fitzgibbons
IPC分类号： G06T7/20 , G06K9/00
CPC分类号： G06K9/209 , G06T7/2033 , G06K2209/19
摘要： An image of the object remains in the field of view of the camera, thereby generating a continuously changing image signal. The images are captured and digitized in a continual sequence S of discrete images of the scenes at a respective sequence T of points in time. During this capture sequence, a first plurality of reference signals are established corresponding to a plurality of respective captured images. In this manner, a plurality of reference images are generated on-line, during movement of the object or cameras. A second plurality of detected signals corresponding to a second plurality of captured images, are individually correlated with the respective next previous reference signal of the sequence, thereby establishing a relative position of the object or camera, for each detected signal. The absolute position of the camera or object, is determined by accumulating these relative positions.
摘要翻译：物体的图像保持在照相机的视野中，从而产生连续变化的图像信号。以相应的时间点的序列T，在场景的离散图像的连续序列S中拍摄和数字化图像。在该捕获序列期间，对应于多个相应的捕获图像建立第一多个参考信号。以这种方式，在物体或照相机的移动期间在线生成多个参考图像。对应于第二多个拍摄图像的第二多个检测信号与序列的相应的下一个先前参考信号单独相关，从而为每个检测到的信号建立对象或照相机的相对位置。相机或物体的绝对位置是通过累加这些相对位置来确定的。

9. 发明授权

US06941192B2 Robot machining tool position and orientation calibration 有权
标题翻译：机器人加工刀具位置和方位校准
公开(公告)号：US06941192B2
公开(公告)日：2005-09-06
申请号：US10355764
申请日：2003-01-31
申请人： Qing Tang , Hakan Brantmark , Zhongxue Gan , Torgny Brogardh
发明人： Qing Tang , Hakan Brantmark , Zhongxue Gan , Torgny Brogardh
IPC分类号： B23Q17/22 , B25J9/16 , B25J9/18 , G05B19/04 , G05B19/18
CPC分类号： B25J9/1692 , B23Q17/22 , G05B2219/39019 , G05B2219/39026 , G05B2219/50291
摘要： A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.
摘要翻译：具有主轴的机器人通过将校准工具放置在机器人主轴中来校准。测量校准工具的位置。基于测量位置确定主轴的轴。基于测量位置确定校准工具中心点。基于确定的主轴，机器人工具中心点，确定的校准工具中心点以及校准工具与机器人工具之间的长度差确定机器人工具旋转轴。

10. 发明授权

US5838882A Dynamic position tracking and control of robots 失效
标题翻译：机器人的动态位置跟踪和控制
公开(公告)号：US5838882A
公开(公告)日：1998-11-17
申请号：US741900
申请日：1996-10-31
申请人： Zhongxue Gan , Jeffrey Sherman Katz , Qing Tang , Lance Terrance Fitzgibbons
发明人： Zhongxue Gan , Jeffrey Sherman Katz , Qing Tang , Lance Terrance Fitzgibbons
IPC分类号： B25J9/16 , G05B13/00 , G05B19/00
CPC分类号： B25J9/1694
摘要： A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A sensory system associated with the robot end effector and the associated digital processing system, includes a vision subsystem for generating an image of a portion of the tube sheet and generating a first signal commensurate with the spatial relationship of the tool to a selected tube opening. An optical subsystem is also provided, for projecting a structured light beam toward the tube sheet and receiving a reflected structured light pattern, indicative of how closely the tool is aligned with the target opening. The end effector also includes transducers responsive to at least one of force and torque acting on the end effector, resulting from partial entry of the tool, or a tool proxy such as a guide, into a tube opening. The sensing of the reflected light pattern, and the sensing of the force and/or torque, result in the generation of second and third signals, respectively which, along with the first signal, are utilized in the computer for controlling the arm to center the tool for actuation fully into the selected tube opening.
摘要翻译：一种机器人和相关联的控制系统以及一种控制方法，用于维修具有基本上平面的管板的热交换器，所述管板限定已知形状的多个横向间隔开的管开口，每个管开口以管的坐标为中心纸张坐标系。与机器人端部执行器和相关联的数字处理系统相关联的感觉系统包括用于产生管板的一部分的图像的视觉子系统，并且产生与工具与所选择的管开口的空间关系相称的第一信号。还提供光学子系统，用于将结构化光束朝向管板投射并且接收反射的结构光图案，指示工具与目标开口对准的程度。端部执行器还包括响应于作用在末端执行器上的力和扭矩中的至少一个的换能器，这是由于工具或工具代理（例如引导件）的部分进入管口。反射光图案的感测以及力和/或扭矩的感测导致分别产生第二和第三信号，其中连同第一信号一起被用于计算机中以控制手臂将中心用于致动的工具完全进入所选择的管开口。

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