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21. 发明授权

US08175337B2 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：US08175337B2
公开(公告)日：2012-05-08
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。

22. 发明申请

US20110224824A1 ROBOT LOCALIZATION SYSTEM 审中-公开
标题翻译：机器人本地化系统
公开(公告)号：US20110224824A1
公开(公告)日：2011-09-15
申请号：US13113790
申请日：2011-05-23
申请人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
IPC分类号： B25J13/08
CPC分类号： G05D1/0225 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/028
摘要： A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted. The robot includes a first receiving unit, which comprises at least two sound sensors receiving the sound wave incident onto the robot; a second receiving unit, which receives the synchronizing signal incident onto the robot; a distance calculation unit, which calculates a distance between the first transmitting unit and the first receiving unit using a difference between an instant of time when the synchronizing signal is received and an instant of time when the sound wave is received; and an incident angle calculation unit, which calculates an incident angle of the sound wave onto the robot using a difference between receiving times of the sound wave in the at least two sound sensors comprised in the first receiving unit.
摘要翻译：提供机器人定位系统。机器人定位包括在预定空间内移动并执行预定任务的机器人以及对应于机器人起始位置的对接站。对接站包括发送声波以检测机器人的位置的第一发送单元; 以及第二发送单元，当发送声波时发送正确的同步信号。机器人包括第一接收单元，其包括接收入射到机器人上的声波的至少两个声音传感器; 第二接收单元，其接收入射到机器人上的同步信号; 距离计算单元，其使用接收到同步信号的时刻与接收到声波的时刻之间的差来计算第一发送单元和第一接收单元之间的距离; 以及入射角计算单元，其使用包括在第一接收单元中的至少两个声音传感器中的声波的接收时间之差来计算声波到机器人上的入射角。

23. 发明授权

US07970491B2 Robot localization system 有权
标题翻译：机器人定位系统
公开(公告)号：US07970491B2
公开(公告)日：2011-06-28
申请号：US10747228
申请日：2003-12-30
申请人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
IPC分类号： G06F19/00 , G05B13/02 , B60T7/16
CPC分类号： G05D1/0225 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/028
摘要： A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted. The robot includes a first receiving unit, which comprises at least two sound sensors receiving the sound wave incident onto the robot; a second receiving unit, which receives the synchronizing signal incident onto the robot; a distance calculation unit, which calculates a distance between the first transmitting unit and the first receiving unit using a difference between an instant of time when the synchronizing signal is received and an instant of time when the sound wave is received; and an incident angle calculation unit, which calculates an incident angle of the sound wave onto the robot using a difference between receiving times of the sound wave in the at least two sound sensors comprised in the first receiving unit.
摘要翻译：提供机器人定位系统。机器人定位包括在预定空间内移动并执行预定任务的机器人以及对应于机器人起始位置的对接站。对接站包括发送声波以检测机器人的位置的第一发送单元; 以及第二发送单元，其在发送声波时发送正确的同步信号。机器人包括第一接收单元，其包括接收入射到机器人上的声波的至少两个声音传感器; 第二接收单元，其接收入射到机器人上的同步信号; 距离计算单元，其使用接收到同步信号的时刻与接收到声波的时刻之间的差来计算第一发送单元和第一接收单元之间的距离; 以及入射角计算单元，其使用包括在第一接收单元中的至少两个声音传感器中的声波的接收时间之差来计算声波到机器人上的入射角。

24. 发明授权

US07613581B2 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：US07613581B2
公开(公告)日：2009-11-03
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。

25. 发明授权

US07546179B2 Method and apparatus for allowing mobile robot to return to docking station 失效
标题翻译：允许移动机器人返回坞站的方法和装置
公开(公告)号：US07546179B2
公开(公告)日：2009-06-09
申请号：US10823548
申请日：2004-04-14
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 , G05B15/00 , B25J9/16 , B25J5/00 , G08B21/00 , E04H6/00
CPC分类号： G06N3/008 , G05D1/0225 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D2201/0208
摘要： A method and apparatus allowing a mobile robot to return to a designated location the method including: calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a predetermined distance from the first location; determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a predetermined distance; and if the result of the determination indicates that the mobile robot approaches the docking station, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the docking station, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle.
摘要翻译：一种允许移动机器人返回到指定位置的方法和装置，包括：在移动机器人从第一位置行进预定距离之后到达的第二位置处计算移动机器人的第一方向角; 在移动机器人旋转第一方向角度然后行进预定距离之后到达的第三位置处，确定移动机器人是否接近或远离指定位置; 并且如果确定结果指示移动机器人接近对接站，则控制移动机器人根据第一方向角行进，并且如果结果指示移动机器人远离对接站移动，则计算第二方向角在第三位置处移动机器人，并且根据第二方向角度控制移动机器人行进。

26. 发明申请

US20070244600A1 ROBOT AND METHOD AND MEDIUM FOR LOCALIZING THE SAME BY USING CALCULATED COVARIANCE 有权
标题翻译：机器人和方法以及通过使用计算公差来定位它们的介质
公开(公告)号：US20070244600A1
公开(公告)日：2007-10-18
申请号：US11688983
申请日：2007-03-21
申请人： Hyeon Myeong , Yong-beom Lee , Seok-won Bang , Hyoung-ki Lee , Ki-wan Choi , Eun-Young Choe
发明人： Hyeon Myeong , Yong-beom Lee , Seok-won Bang , Hyoung-ki Lee , Ki-wan Choi , Eun-Young Choe
IPC分类号： G06F19/00 , G05B15/00 , G01C21/00
CPC分类号： G05D1/0272 , G05D1/027
摘要： Provided are a robot capable of improving the computation rate by considering whether a parameter will diverge and modifying the experiment order of offspring during evolutionary computation, when the covariance of system noise and that of measurement noise are calculated for the purpose of localizing the robot by using a Kalman filter, and a method and medium of localizing a robot by using a calculated covariance. The robot includes a gyroscope module providing information regarding rotational angle; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel by sensing motion of the wheel; and a control module estimating a current location according to a Kalman filter method based on information provided by the encoder module and the gyroscope module, a covariance of system noise and a covariance of measurement noise being calculated in an evolutionary computation and applied to the Kalman filter method by the control module, the covariance of system noise and the covariance of measurement noise satisfying a condition that no Kalman filter parameter diverges in the evolutionary computation.
摘要翻译：提供了一种能够通过考虑在进化计算期间参数是否会发散和修改后代的实验次序来提高计算速率的机器人，当系统噪声和测量噪声的协方差被计算用于通过使用卡尔曼滤波器，以及通过使用计算的协方差来定位机器人的方法和介质。机器人包括提供关于旋转角度的信息的陀螺仪模块; 编码器模块，通过感测车轮的运动来提供关于车轮旋转角度的速度和信息的信息; 以及基于卡尔曼滤波方法的编码器模块和陀螺仪模块提供的信息来估计当前位置的控制模块，系统噪声的协方差和在进化计算中计算的应用于卡尔曼滤波器的测量噪声的协方差控制模块的方法，系统噪声的协方差和测量噪声的协方差满足在进化计算中没有卡尔曼滤波参数发散的条件。

27. 发明申请

US20050038349A1 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：US20050038349A1
公开(公告)日：2005-02-17
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： A61B5/026 , A61B5/02 , A61B5/024 , A61B5/0245
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。

28. 发明授权

US06656116B2 Apparatus and method for perceiving physical and emotional state 有权
公开(公告)号：US06656116B2
公开(公告)日：2003-12-02
申请号：US09931767
申请日：2001-08-20
申请人： Jay-woo Kim , Seok-won Bang , Jeong-hwan Kim , Hyoung-ki Lee
发明人： Jay-woo Kim , Seok-won Bang , Jeong-hwan Kim , Hyoung-ki Lee
IPC分类号： A61B500
CPC分类号： G06F3/011 , A61B5/0008 , A61B5/01 , A61B5/0205 , A61B5/0816 , A61B5/1455 , A61B5/16 , A61B5/441 , G06F2203/011
摘要： An apparatus and method for perceiving a physical and emotional state, which allows easy attachment to and detachment from a human body, and through which a bio-signal is simply detected, are provided. The apparatus includes a bio-signal detection part attached to a predetermined portion of a body for performing analog signal processing on at least one bio-signal detected from the body and outputting the processed bio-signal, and a bio-signal recognizing part for performing digital signal processing on the processed bio-signal received from the bio-signal detection part, perceiving the physical and emotional state from the result of the digital signal processing, and representing the physical and emotional state. Accordingly, the apparatus can be conveniently attached to a predetermined portion of a user's body, a bio-signal transmitted wirelessly or through a wire can be easily detected, a physical and emotional state which is perceived based on the detected bio-signal can be reported to the user, and a rapidly changing emotional state or an emotional state which remains for a long time can be perceived in real time.

29. 发明申请

US20070083079A1 Apparatus and/or method for inducing sound sleep and waking 有权
标题翻译：用于诱发健康睡眠和醒来的装置和/或方法
公开(公告)号：US20070083079A1
公开(公告)日：2007-04-12
申请号：US11513080
申请日：2006-08-31
申请人： Mi-hee Lee , Seok-won Bang
发明人： Mi-hee Lee , Seok-won Bang
IPC分类号： G04B47/00 , A61M21/00
CPC分类号： A61M21/00 , A61B5/00 , A61B5/4806 , A61B5/4812 , A61B2560/0242 , A61M2021/0016 , A61M2021/0027 , A61M2021/005 , A61M2021/0066 , G06F19/00
摘要： Disclosed herein are a method and apparatus to induce sound sleep and waking, selecting a protocol to control a sound sleep and waking environment depending on a sleep type selected by a user; adjusting the sleep environment of the user according to the selected protocol; determining a sleep state of the user by measuring physiological signals of the user during sleep in the sleep environment using a sensor which does not contact a body of the user; detecting variation in the physiological signals of the user; and re-adjusting the sleep environment by changing parameters of the protocol depending on the detected variation in the physiological signals. As a result, there is an advantage in that it is possible to naturally induce sound sleep and waking.
摘要翻译：这里公开了一种诱发声音睡眠和醒来的方法和装置，根据用户选择的睡眠类型选择协议来控制声音睡眠和唤醒环境; 根据所选择的协议调整用户的睡眠环境; 通过使用不接触用户身体的传感器在睡眠环境中测量睡眠中的用户的生理信号来确定用户的睡眠状态; 检测用户的生理信号的变化; 并通过根据检测到的生理信号的变化改变协议的参数来重新调整睡眠环境。因此，有一个优点在于可以自然地诱发良好的睡眠和醒来。

30. 发明授权

US07956755B2 Apparatus and/or method for inducing sound sleep and waking 有权
标题翻译：用于诱发健康睡眠和醒来的装置和/或方法
公开(公告)号：US07956755B2
公开(公告)日：2011-06-07
申请号：US11513080
申请日：2006-08-31
申请人： Mi-hee Lee , Seok-won Bang
发明人： Mi-hee Lee , Seok-won Bang
IPC分类号： G08B23/00
CPC分类号： A61M21/00 , A61B5/00 , A61B5/4806 , A61B5/4812 , A61B2560/0242 , A61M2021/0016 , A61M2021/0027 , A61M2021/005 , A61M2021/0066 , G06F19/00
摘要： Disclosed herein are a method and apparatus to induce sound sleep and waking, selecting a protocol to control a sound sleep and waking environment depending on a sleep type selected by a user; adjusting the sleep environment of the user according to the selected protocol; determining a sleep state of the user by measuring physiological signals of the user during sleep in the sleep environment using a sensor which does not contact a body of the user; detecting variation in the physiological signals of the user; and re-adjusting the sleep environment by changing parameters of the protocol depending on the detected variation in the physiological signals. As a result, there is an advantage in that it is possible to naturally induce sound sleep and waking.
摘要翻译：这里公开了一种诱发声音睡眠和醒来的方法和装置，根据用户选择的睡眠类型选择协议来控制声音睡眠和唤醒环境; 根据所选择的协议调整用户的睡眠环境; 通过使用不接触用户身体的传感器在睡眠环境中测量睡眠中的用户的生理信号来确定用户的睡眠状态; 检测用户的生理信号的变化; 并通过根据检测到的生理信号的变化改变协议的参数来重新调整睡眠环境。因此，有一个优点在于可以自然地诱发良好的睡眠和醒来。

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