Patents by Inventor Yi-Yuh Hwang
Yi-Yuh Hwang has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11554506Abstract: A device for measuring repeated positioning precision of a robotic arm is introduced. Using an optical speckle three-dimensional displacement sensor developed by the inventor, and with collaboration of an optical speckle image three-dimensional positioning base built with an optical speckle coordinate database and having low thermal expansion, an optical speckle three-dimensional absolute positioning space is established. The optical speckle three-dimensional displacement sensor is installed on an end effector of a robotic arm, the robotic arm is moved to have the optical speckle three-dimensional displacement sensor enter an optical speckle three-dimensional absolute positioning space, an optical speckle image of a positioning point is captured and compared with a coordinate optical speckle image in the optical speckle coordinate database, and current three-dimensional absolute positioning coordinates of the end effector of the robotic arm can be obtained.Type: GrantFiled: March 31, 2021Date of Patent: January 17, 2023Assignee: NATIONAL CHUNG SHAN INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Yi-Yuh Hwang, Li-Chung Liu
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Publication number: 20220314468Abstract: A device for measuring repeated positioning precision of a robotic arm is introduced. Using an optical speckle three-dimensional displacement sensor developed by the inventor, and with collaboration of an optical speckle image three-dimensional positioning base built with an optical speckle coordinate database and having low thermal expansion, an optical speckle three-dimensional absolute positioning space is established. The optical speckle three-dimensional displacement sensor is installed on an end effector of a robotic arm, the robotic arm is moved to have the optical speckle three-dimensional displacement sensor enter an optical speckle three-dimensional absolute positioning space, an optical speckle image of a positioning point is captured and compared with a coordinate optical speckle image in the optical speckle coordinate database, and current three-dimensional absolute positioning coordinates of the end effector of the robotic arm can be obtained.Type: ApplicationFiled: March 31, 2021Publication date: October 6, 2022Inventors: Yi-Yuh Hwang, Li-Chung Liu
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Patent number: 11442427Abstract: The present invention provides a planar three-dimensional displacement sensor for a multiaxis machining device. With the measurement of the (planar) three-dimensional displacement sensor in the multiaxis machining device, the multiaxis machining device and a multiaxis machining compensation method are able to eliminate various deformation effects effectively.Type: GrantFiled: December 25, 2019Date of Patent: September 13, 2022Assignee: National Chung-Shan Institute of Science and TechnologyInventors: Yi-Yuh Hwang, Li-Chung Liu
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Publication number: 20210200180Abstract: The present invention provides a planar three-dimensional displacement sensor for a multiaxis machining device. With the measurement of the (planar) three-dimensional displacement sensor in the multiaxis machining device, the multiaxis machining device and a multiaxis machining compensation method are able to eliminate various deformation effects effectively.Type: ApplicationFiled: December 25, 2019Publication date: July 1, 2021Inventors: Yi-Yuh Hwang, Li-Chung Liu
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Publication number: 20200192113Abstract: The present invention is to provide a method of precisely comparing and positioning speckle patterns, which calculates light intensities of the speckle patterns, is capable of enhancing positioning accuracy of the speckle patterns, and is applicable to various navigation input devices for various types of notebook computers, multi-function keyboard and TV remote control.Type: ApplicationFiled: December 18, 2018Publication date: June 18, 2020Inventors: Yi-Yuh Hwang, Wei-Kuo Chang, Li-Chung Liu
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Patent number: 10670877Abstract: The present invention is to provide a method of precisely comparing and positioning speckle patterns, which calculates light intensities of the speckle patterns, is capable of enhancing positioning accuracy of the speckle patterns, and is applicable to various navigation input devices for various types of notebook computers, multi-function keyboard and TV remote control.Type: GrantFiled: December 18, 2018Date of Patent: June 2, 2020Assignee: National Chung-Shan Institute of Science and TechnologyInventors: Yi-Yuh Hwang, Wei-Kuo Chang, Li-Chung Liu
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Patent number: 10632622Abstract: An error compensation device includes at least one photographing module, a comparison module and a compensation module compensation module. The photographing module establish a space coordinate system relative to the object and comprises a first photographer and a second photographer which respectively photograph a first non-deformed laser speckle image on a first surface and a second non-deformed laser speckle image on a second surface, the first surface differs from the second surface by an azimuth. The comparison module respectively compares the first non-deformed laser speckle image before and after the displacement with the second non-deformed laser speckle image to calculate a displacement value between the two surfaces. The compensation module controls the movement of the object according to the displacement value. The error compensation utilizes the displacement of the non-deformed laser speckle image to obtain the absolute error of the object and compensate the error.Type: GrantFiled: December 27, 2017Date of Patent: April 28, 2020Assignee: NATIONAL CHUNG SHAN INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Yi-Yuh Hwang, Wei-Guo Chang, Li-Chung Liu
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Publication number: 20190193271Abstract: An error compensation device comprises at least one photographing module, a comparison module and a compensation module compensation module. The photographing module establish a space coordinate system relative to the object and comprises a first photographer and a second photographer which respectively photograph a first non-deformed laser speckle image on a first surface and a second non-deformed laser speckle image on a second surface, the first surface differs from the second surface by an azimuth. The comparison module respectively compares the first non-deformed laser speckle image before and after the displacement with the second non-deformed laser speckle image to calculate a displacement value between the two surfaces. The compensation module controls the movement of the object according to the displacement value. The error compensation utilizes the displacement of the non-deformed laser speckle image to obtain the absolute error of the object and compensate the error.Type: ApplicationFiled: December 27, 2017Publication date: June 27, 2019Inventors: YI-YUH HWANG, WEI-GUO CHANG, LI-CHUNG LIU
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Patent number: 10189133Abstract: A measurement, calibration and compensation system for machine tool includes a first positioning base; two first speckle image sensors for sensing speckle positions of an object holding unit at a first XY plane and a first XZ plane of the first positioning base before and after the machine tool is started for machining; a second positioning base; two second speckle image sensors for sensing speckle positions of a cutter holding unit at a second XY plane and a second YZ plane of the second positioning base before and after the machine tool is started for machining. Thus, the thermal expansion at all axes of the machine tool can be measured in a simplified and low-cost way, and the absolute positioning coordinates of all axes of the machine tool can be calibrated in real time to avoid reduced positioning accuracy due to the thermal expansion of the multi-axis machine tool.Type: GrantFiled: December 22, 2016Date of Patent: January 29, 2019Assignee: NATIONAL CHUNG SHAN INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Yi-Yuh Hwang, Wei-Guo Chang, Li-Chung Liu
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Publication number: 20180178339Abstract: A measurement, calibration and compensation system for machine tool includes a first positioning base; two first speckle image sensors for sensing speckle positions of an object holding unit at a first XY plane and a first XZ plane of the first positioning base before and after the machine tool is started for machining; a second positioning base; two second speckle image sensors for sensing speckle positions of a cutter holding unit at a second XY plane and a second YZ plane of the second positioning base before and after the machine tool is started for machining. Thus, the thermal expansion at all axes of the machine tool can be measured in a simplified and low-cost way, and the absolute positioning coordinates of all axes of the machine tool can be calibrated in real time to avoid reduced positioning accuracy due to the thermal expansion of the multi-axis machine tool.Type: ApplicationFiled: December 22, 2016Publication date: June 28, 2018Inventors: YI-YUH HWANG, WEI-GUO CHANG, LI-CHUNG LIU
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Patent number: 9773190Abstract: The present invention mainly provides a precision calibration method for being applied in a high-precise rotary encoder system, wherein the primary technology feature of the precision calibration method is that: using a laser speckle image capturing module to capture N frames of laser speckle image from an optical position surface of a rotary encoding body, and then using image comparison libraries and particularly-designed mathematical equations to calculate N number of image displacements, so as to eventually calculate N number of primary variation angles and sub variation angles corresponding to the N frames of laser speckle image. Therefore, after the rotary encoding body is rotated by an arbitrary angle, an immediate angle coordinate can be precisely positioned according to the primary variation angles, the secondary variation angles and the N number of image displacements.Type: GrantFiled: December 28, 2015Date of Patent: September 26, 2017Assignee: NATIONAL CHUNG-SHAN INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Yi-Yuh Hwang, Guang-Sheen Liu, Chin-Der Hwang, Wei-Guo Chang, Chih-Ming Liao
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Patent number: 9671218Abstract: A quick subpixel absolute positioning device and method are introduced.Type: GrantFiled: December 22, 2014Date of Patent: June 6, 2017Assignee: NATIONAL CHUNG SHAN INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Yi-Yuh Hwang, Wei-Guo Chang, Chin-Der Hwang, Guang-Sheen Liu, Wen-Jen Lin, Ping-Ya Ko
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Patent number: 9574915Abstract: The present invention mainly provides a precision calibration method for being applied in a high-precise rotary encoder system, wherein the primary technology feature of the precision calibration method is that: using a laser speckle image capturing module to capture N frames of laser speckle image from an optical position surface of a rotary encoding body, and then using image comparison libraries and particularly-designed mathematical equations to calculate N number of displacement vectors based on the N frames of laser speckle image, so as to eventually calculate N number of angle coordinates corresponding to the N frames of laser speckle image based on the plurality of displacement vectors. Moreover, a rotation matrix is further proposed and used in this precision calibration method, and used for treating the displacement vectors with a displacement vector transforming process in order to effectively enhance the position precision of the high-precise rotary encoder system.Type: GrantFiled: December 22, 2015Date of Patent: February 21, 2017Assignee: National Chung-Shan Institute of Science & TechnologyInventors: Yi-Yuh Hwang, Wei-Kuo Chang
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Publication number: 20160178347Abstract: A quick subpixel absolute positioning device and method are introduced.Type: ApplicationFiled: December 22, 2014Publication date: June 23, 2016Inventors: YI-YUH HWANG, WEI-GUO CHANG, CHIN-DER HWANG, GUANG-SHEEN LIU, WEN-JEN LIN, PING-YA KO
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Publication number: 20160110628Abstract: The present invention mainly provides a precision calibration method for being applied in a high-precise rotary encoder system, wherein the primary technology feature of the precision calibration method is that: using a laser speckle image capturing module to capture N frames of laser speckle image from an optical position surface of a rotary encoding body, and then using image comparison libraries and particularly-designed mathematical equations to calculate N number of image displacements, so as to eventually calculate N number of primary variation angles and sub variation angles corresponding to the N frames of laser speckle image. Therefore, after the rotary encoding body is rotated by an arbitrary angle, an immediate angle coordinate can be precisely positioned according to the primary variation angles, the secondary variation angles and the N number of image displacements.Type: ApplicationFiled: December 28, 2015Publication date: April 21, 2016Inventors: Yi-Yuh Hwang, Guang-Sheen Liu, Chin-Der Hwang, Wei-Guo Chang, Chih-Ming Liao
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Publication number: 20150160043Abstract: The present invention proposes a high-precision angle positioning device.Type: ApplicationFiled: December 10, 2013Publication date: June 11, 2015Applicant: Chung-Shan Institute of Science and TechnologyInventors: Yi-Yuh Hwang, Guang-Sheen Liu, Chin-Der Hwang, Wei-Guo Chang, Chih-Ming Liao
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Patent number: 8605294Abstract: An actuating apparatus includes a motion driving module rigidly coupled to a platform, a working stage driven by the motion driving module to move relative to the platform, a speckle image capturing module rigidly coupled to the working stage and capable of capturing a speckle image of a sub-region of a reference region of the platform, and a control module operable in a positioning mode, where the control module obtains a current position of the working stage in a coordinate system associated with the platform based on a comparison between the captured speckle image and reference speckle image information that is associated with and unique to the reference region, and controls the motion driving module to drive the working stage toward a target position in the coordinate system based on a difference between the current position and the target position.Type: GrantFiled: March 9, 2012Date of Patent: December 10, 2013Assignee: Chung-Shan Institute of Science and Technology, Armaments, Bureau, Ministry of National DefenseInventors: Yi-Yuh Hwang, Chin-Der Hwang, Chih-Ming Liao, Ting-Wei Chiang, Wei-Guo Chang, Wen-Cheng Huang
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Publication number: 20130235389Abstract: An actuating apparatus includes a motion driving module rigidly coupled to a platform, a working stage driven by the motion driving module to move relative to the platform, a speckle image capturing module rigidly coupled to the working stage and capable of capturing a speckle image of a sub-region of a reference region of the platform, and a control module operable in a positioning mode, where the control module obtains a current position of the working stage in a coordinate system associated with the platform based on a comparison between the captured speckle image and reference speckle image information that is associated with and unique to the reference region, and controls the motion driving module to drive the working stage toward a target position in the coordinate system based on a difference between the current position and the target position.Type: ApplicationFiled: March 9, 2012Publication date: September 12, 2013Applicant: Chung-Shan Institute of Science and Technology, Armaments, Bureau, Ministry of National DefenseInventors: Yi-Yuh Hwang, Chin-Der Hwang, Chih-Ming Liao, Ting-Wei Chiang, Wei-Guo Chang, Wen-Cheng Huang
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Patent number: 8144339Abstract: A method and system for positioning by using optical speckle are disclosed in this invention. A highly coherent laser light irradiates a positioning template in advance to record optical speckles caused by interference by scattered light beams from the positioning template for establishing a speckle database. Furthermore, a reference point is defined to position each recorded speckle. Therefore, a coordinate with respect to the reference point corresponding to a specified speckle can be used to position a target or applied to distance measurement by the speckle database. The precision of the speckles according to the present invention is within several micrometers. Hence, it can provide high precision positioning.Type: GrantFiled: December 10, 2009Date of Patent: March 27, 2012Assignee: Chung Shan Institute of Science and Technology, Armaments Bureau, M.N.D.Inventors: Yi-Yuh Hwang, Chih-Ming Liao, Chin-Der Hwang, Shin-I Ma, Ting-Wei Chiang, Chun-Hao Chen, Wen-Cheng Huang, Mau-Ran Wang
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Patent number: 8125449Abstract: A highly sensitive movable touchpad is disclosed in the present invention. It is used for laptop computers and has a slidable template for users to move so that a cursor can be controlled by the touchpad. A resistive or capacitive detecting surface can be applied for detecting users' click, double click, drag, or scroll motion on any point of the surface. Additionally, there is an optical displacement sensor provided under the slidable template for detecting surface information on the back surface of the slidable template. A sequence of images of surface movement are processed by an image processing unit. Then, relative movement information is calculated and sent to an operating system in the computer. The operating system controls the cursor with the relative movement information. The present invention uses edge detectors for dynamically controlling the cursor and calibrating location of the cursor so that positioning of the touchpad is synchronous with the cursor.Type: GrantFiled: December 16, 2009Date of Patent: February 28, 2012Assignee: Chung Shan Institute of Science and Technology, Armaments Bureau, M.N.D.Inventors: Chih-Ming Liao, Ting-Wei Chiang, Chun-Hao Chen, Yi-Yuh Hwang, Shin-I Ma, Wen-Cheng Huang, Chin-Der Hwang, Mau-Ran Wang