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11. 发明授权

US07860608B2 Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot 失效
标题翻译：家用清洁机器人清洁轨迹的生成方法和装置
公开(公告)号：US07860608B2
公开(公告)日：2010-12-28
申请号：US10819984
申请日：2004-04-08
申请人： Hyoung-ki Lee , Sun-gi Hong , Seok-won Bang , Il-hwan Kim , Ki-wan Choi
发明人： Hyoung-ki Lee , Sun-gi Hong , Seok-won Bang , Il-hwan Kim , Ki-wan Choi
IPC分类号： G06F19/00 , G05B19/04 , G05B19/18
CPC分类号： G05D1/0225 , A47L2201/02 , A47L2201/04 , G05D1/0219 , G05D1/0255 , G05D2201/0203 , G05D2201/0215
摘要： A method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls until the home cleaning robot arrives at a point where it cannot travel in a direction in which a distance between the docking station and the home cleaning robot increases.
摘要翻译：一种产生和追踪家用清洁机器人的清洁轨迹的方法和装置，该方法包括：控制家用清洁机器人从对接站直线行进一定距离，然后旋转地行进，保持与对接站的距离，直到家用清洁机器人到达两面墙之一; 如果家用清洁机器人到达墙壁并且在对接站周围继续旋转运行，则控制家用清洁机器人沿着墙壁的设定距离行进多达一点距离，保持对接站和家庭清洁机器人之间的距离增加了设置距离直到它到达两个墙壁之一; 并且如果家用清洁机器人到达墙壁并且在对接站周围继续旋转移动，则反复地控制家用清洁机器人沿着墙壁的设定距离行进多达一点，保持对接站和家用清洁机器人之间的距离增加直到到达两个墙壁之一的设定距离，直到家庭清洁机器人到达其不能在对接站和家用清洁机器人之间的距离增加的方向上行进的点时。

12. 发明授权

US07727159B2 Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same 有权
标题翻译：用于检测没有运动假象的血流信号的装置和方法，以及使用其的应力测试装置
公开(公告)号：US07727159B2
公开(公告)日：2010-06-01
申请号：US10909305
申请日：2004-08-03
申请人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang
发明人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang
IPC分类号： A61B5/02
CPC分类号： A61B5/02405 , A61B5/02416 , A61B5/0261 , A61B5/7207
摘要： An apparatus and method to detect a blood flow signal free from a motion artifact, and a stress test apparatus using the same, enhance data reliability of the blood flow signal by removing the motion artifact from the blood flow signal detected by photo-plethysmography. The apparatus to detect the blood flow signal includes a base pattern correlation coefficient calculating unit to determine peak points in the blood flow signal sensed from a body of an examinee using a blood flow sensing unit, and to calculate correlation coefficients of each peak point using a predetermined base pattern, and a motion artifact processing unit to determine the motion artifact using the calculated correlation coefficients and to remove the motion artifact from the blood flow signal. Thus, reliability of the blood flow signal is enhanced by effectively removing the motion artifact from the blood flow signal detected by the photo-plethysmography.
摘要翻译：一种用于检测没有运动伪影的血流信号的装置和方法，以及使用其的应力测试装置，通过从通过光体积描记术检测的血流信号中消除运动伪影来增强血流信号的数据可靠性。用于检测血流信号的装置包括基本图案相关系数计算单元，用于使用血液流量检测单元确定从被检体的身体感测的血流信号中的峰值点，并且使用预定的基本图案和运动假象处理单元，以使用所计算的相关系数来确定运动伪影，并从血流信号中去除运动伪像。因此，通过从通过光体积描记术检测的血流信号有效地去除运动伪影，可以提高血流信号的可靠性。

13. 发明授权

US07507948B2 Method of detecting object using structured light and robot using the same 有权
标题翻译：使用结构光检测物体的方法和使用其的机器人
公开(公告)号：US07507948B2
公开(公告)日：2009-03-24
申请号：US11590744
申请日：2006-11-01
申请人： Dong-ryeol Park , Hyoung-ki Lee , Dong-jo Kim , Seok-won Bang
发明人： Dong-ryeol Park , Hyoung-ki Lee , Dong-jo Kim , Seok-won Bang
IPC分类号： G06M7/00 , H01J40/14
CPC分类号： G01B11/25 , A47L9/009 , A47L9/2826 , A47L9/2852 , A47L9/30 , A47L2201/04 , B25J5/007 , B25J19/021 , G05D1/0248 , G05D1/0274 , G05D2201/0203
摘要： A method of detecting an object using a structured light and a robot using the same are disclosed. The method of detecting a floor object using a structured light includes measuring a height difference of a position onto which a specified structured light is projected with a reference position, and detecting the floor object using the measured height difference.
摘要翻译：公开了使用结构光检测物体的方法和使用其的机器人。使用结构化光检测楼层物体的方法包括测量具有参考位置的指定结构光投射的位置的高度差，以及使用测得的高度差来检测楼层物体。

14. 发明申请

US20080159595A1 Apparatus and method of measuring distance using structured light 有权
标题翻译：使用结构光测量距离的装置和方法
公开(公告)号：US20080159595A1
公开(公告)日：2008-07-03
申请号：US11987116
申请日：2007-11-27
申请人： Dong-ryeol Park , Woo-yeon Jeong , Seok-won Bang , Hyoung-ki Lee
发明人： Dong-ryeol Park , Woo-yeon Jeong , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G06K9/00
CPC分类号： G01B11/25 , G01B11/026 , G01S7/4802 , G01S7/491 , G01S17/48 , G01S17/89 , G01S17/936 , G06T7/521
摘要： Provided are an apparatus and method of measuring a distance using structured light. The apparatus includes a binarization unit binarizing an image, an image identification unit identifying an image having connected pixels in the binarized image, a length ratio calculation unit obtaining the length ratio of the major axis of the image having the connected pixels to a minor axis perpendicular to the major axis, a pixel mean calculation unit obtaining the mean of pixel values of the image having the connected pixels, and an image extraction unit extracting an image formed by the light irradiated from the light source, from the images having connected pixels using the length ratio and the mean of the pixel values.
摘要翻译：提供了使用结构光测量距离的装置和方法。该装置包括二值化单元二值化图像，识别在二值化图像中具有连接像素的图像的图像识别单元，长度比计算单元，获得具有连接像素的图像的长轴与短轴垂直的长度比对于长轴，像素平均值计算单元获得具有连接像素的图像的像素值的平均值，以及图像提取单元，从具有连接像素的图像中提取由光源照射的光形成的图像，长度比和像素值的平均值。

15. 发明申请

US20080071492A1 Method, apparatus, and medium for calibrating compass sensor in consideration of magnetic environment and method, apparatus, and medium for measuring azimuth using the compass sensor calibration method, apparatus, and medium 失效
标题翻译：使用罗盘传感器校准方法，装置和介质考虑磁环境的方法，装置和介质用于校准罗盘传感器的方法，装置和介质，用于测量方位角
公开(公告)号：US20080071492A1
公开(公告)日：2008-03-20
申请号：US11892529
申请日：2007-08-23
申请人： Vladimir Skvortsov , Seok-won Bang , Hyoung-ki Lee
发明人： Vladimir Skvortsov , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G01C17/38
CPC分类号： G01C17/38
摘要： A method of calibrating a compass sensor in consideration of a magnetic environment is provided. The method includes (a) acquiring magnetic force data by rotating a compass sensor 360 degrees, the compass sensor including a biaxial magnetometer, (b) fitting the acquired magnetic force data to an ellipse function, (c) transforming the acquired magnetic force data and the ellipse function into a circle which is centered on an origin, and (d) calculating a distortion factor based on an inclination of a major axis of the ellipse function or the acquired magnetic force data to a horizontal axis, the distortion factor indicating the degree to which a magnetic field is distorted.
摘要翻译：提供考虑到磁环境校准罗盘传感器的方法。该方法包括：（a）通过360度旋转罗盘传感器获取磁力数据，罗盘传感器包括双轴磁力计，（b）将所获取的磁力数据拟合成椭圆函数，（c）将所获取的磁力数据和椭圆函数成为以原点为中心的圆，（d）基于椭圆函数的长轴或获取的磁力数据与水平轴的倾斜度计算失真因子，表示程度的失真因子磁场失真。

16. 发明申请

US20080022790A1 Apparatus and method for correcting bias of gyroscope mounted on mobile robot 有权
标题翻译：用于校正安装在移动机器人上的陀螺仪偏差的装置和方法
公开(公告)号：US20080022790A1
公开(公告)日：2008-01-31
申请号：US11822405
申请日：2007-07-05
申请人： Hyoung-ki Lee , Ki-wan Choi , Dong-yoon Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Ki-wan Choi , Dong-yoon Kim , Seok-won Bang
IPC分类号： G01C19/54
CPC分类号： G01C19/42 , Y10T74/1229
摘要： An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.
摘要翻译：一种校正安装在移动机器人上并测量移动机器人的角速度的陀螺仪的偏置的装置。该装置包括：分别测量移动机器人的相应的至少一个车轮的行进速度的至少一个编码器; 建模单元，通过使用测量的行进速度来计算移动机器人的角速度; 偏置推定单元通过使用所计算的角速度和所测量的角速度之间的差值来确定置信区间，并且通过使用所述差值之中的置信区间中的值来计算推定的偏差; 以及偏置去除单元，从所测量的角速度除去所述推定的偏压。

17. 发明授权

US09182763B2 Apparatus and method for generating three-dimensional map using structured light 有权
公开(公告)号：US09182763B2
公开(公告)日：2015-11-10
申请号：US12153440
申请日：2008-05-19
申请人： Dong-ryeol Park , Dong-jo Kim , Seok-won Bang , Hyoung-ki Lee
发明人： Dong-ryeol Park , Dong-jo Kim , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G06F19/00 , G05D1/02
CPC分类号： G05D1/0274 , G05D1/024 , G05D1/027 , G05D1/0272
摘要： A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.

18. 发明申请

US20100324773A1 Method and apparatus for relocating mobile robot 审中-公开
标题翻译：移动机器人搬迁方法及装置
公开(公告)号：US20100324773A1
公开(公告)日：2010-12-23
申请号：US12153529
申请日：2008-05-20
申请人： Ki-Wan Choi , Ji-Young Park , Seok-Won Bang , Hyoung-ki Lee
发明人： Ki-Wan Choi , Ji-Young Park , Seok-Won Bang , Hyoung-ki Lee
IPC分类号： G05D1/00 , B25J5/00
CPC分类号： G05D1/0272 , G05D1/0246 , G05D2201/0203
摘要： Provided is a method and apparatus for relocating a mobile robot when the mobile robot loses its position due to slipping. The method includes storing a moving path of the mobile robot and effective points on the moving path capable of finding an absolute position from a peripheral image; detecting an abnormal motion of the mobile robot; and when the abnormal motion of the mobile robot is detected, controlling the mobile robot to move to the effective point along a predetermined return path.
摘要翻译：提供了一种当移动机器人由于滑动而失去其位置时移动移动机器人的方法和装置。该方法包括将可移动机器人的移动路径和有效点存储在能够从周边图像中找到绝对位置的移动路径上; 检测移动机器人的异常运动; 并且当检测到移动机器人的异常运动时，控制移动机器人沿着预定返回路径移动到有效点。

19. 发明申请

US20070290828A1 Moving apparatus, method, and medium for compensating position of the moving apparatus 有权
标题翻译：移动装置，方法和介质，用于补偿移动装置的位置
公开(公告)号：US20070290828A1
公开(公告)日：2007-12-20
申请号：US11707992
申请日：2007-02-20
申请人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang , Dong-yoon Kim
发明人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang , Dong-yoon Kim
IPC分类号： B60Q1/26
CPC分类号： G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： Provided are a moving apparatus and an apparatus, method, and medium for compensating position based on a position recognition technology. The moving apparatus which provides a function for correcting a position includes a sensing unit obtaining multiple state information reflecting one or more abnormal movement states generated by movements of the moving apparatus; a state determination unit determining whether or not the abnormal movement state is generated by self-contained navigation, by referring to the obtained multiple state information; and a position information calculation unit calculating final position information of the moving apparatus, by correcting the multiple state information as the abnormal movement state occurs.
摘要翻译：提供了一种基于位置识别技术的移动装置和用于补偿位置的装置，方法和介质。提供用于校正位置的功能的移动装置包括：感测单元，获得反映由移动装置的移动产生的一个或多个异常运动状态的多个状态信息; 状态确定单元，通过参照所获得的多个状态信息来确定是否通过独立导航生成异常运动状态; 以及位置信息计算单元，通过在发生异常运动状态的情况下校正多个状态信息来计算移动装置的最终位置信息。

20. 发明申请

US20070267570A1 Method of detecting object using structured light and robot using the same 有权
标题翻译：使用结构光检测物体的方法和使用其的机器人
公开(公告)号：US20070267570A1
公开(公告)日：2007-11-22
申请号：US11590744
申请日：2006-11-01
申请人： Dong-ryeol Park , Hyoung-ki Lee , Dong-jo Kim , Seok-won Bang
发明人： Dong-ryeol Park , Hyoung-ki Lee , Dong-jo Kim , Seok-won Bang
IPC分类号： H01J40/14
CPC分类号： G01B11/25 , A47L9/009 , A47L9/2826 , A47L9/2852 , A47L9/30 , A47L2201/04 , B25J5/007 , B25J19/021 , G05D1/0248 , G05D1/0274 , G05D2201/0203
摘要： A method of detecting an object using a structured light and a robot using the same are disclosed. The method of detecting a floor object using a structured light includes measuring a height difference of a position onto which a specified structured light is projected with a reference position, and detecting the floor object using the measured height difference.
摘要翻译：公开了使用结构光检测物体的方法和使用其的机器人。使用结构化光检测楼层物体的方法包括测量具有参考位置的指定结构光投射的位置的高度差，以及使用测得的高度差来检测楼层物体。

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