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41. 发明申请

US20060182365A1 Method and apparatus for processing line pattern using convolution kernel 有权
标题翻译：使用卷积核处理线条图案的方法和装置
公开(公告)号：US20060182365A1
公开(公告)日：2006-08-17
申请号：US11350847
申请日：2006-02-10
申请人： Dong-ryeol Park , Seok-won Bang
发明人： Dong-ryeol Park , Seok-won Bang
IPC分类号： G06K9/40
CPC分类号： G06K9/00664 , G06K9/2036 , G06K9/56
摘要： A method and apparatus for processing a line pattern using a convolution kernal. An apparatus for processing a line pattern, the apparatus including a light source module radiating predetermined light and a camera module capturing an image of an object, onto which the light is radiated, the apparatus processing a line pattern included in the captured image, includes: a kernel learning unit determining a kernel shape and an optimal threshold value with respect to each vertical interval of the image using a simple line pattern formed at a predetermined location; a convolution application unit applying convolution to a captured test image using the determined kernel shape and optimal threshold value; and a region selection unit scanning each pixel column in the image, to which the convolution is applied, in a vertical direction, and setting pixel values of pixel groups other than a selected pixel group to 0 when a plurality of pixel groups having pixel values other than 0 exists.
摘要翻译：一种使用卷积内核处理线条图案的方法和装置。一种用于处理线条图案的装置，该装置包括：放射预定光源的光源模块和捕获放射光的物体的图像的照相机模块，该处理包含在拍摄图像中的线条图案的装置包括：核心学习单元使用形成在预定位置处的简单线图案来确定相对于图像的每个垂直间隔的核心形状和最佳阈值; 卷积应用单元使用所确定的核心形状和最佳阈值对捕获的测试图像应用卷积; 以及区域选择单元，在垂直方向扫描卷积的图像中的每个像素列，并且当具有像素值为其他的多个像素组时，将除了所选像素组之外的像素组的像素值设置为0 比0存在。

42. 发明授权

US08630735B2 Method, apparatus, and medium for estimating pose of mobile robot using particle filter 有权
标题翻译：用于使用粒子滤波器估计移动机器人姿态的方法，装置和介质
公开(公告)号：US08630735B2
公开(公告)日：2014-01-14
申请号：US13269027
申请日：2011-10-07
申请人： Hyeon Myeong , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
发明人： Hyeon Myeong , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
IPC分类号： G05B19/18
CPC分类号： G05D1/0272 , G05D1/0255 , G05D1/0274 , G05D2201/0203
摘要： Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor.
摘要翻译：公开了一种用于估计使用粒子滤波器的移动机器人姿态的方法，装置和介质。根据本发明的实施例的用于估计使用粒子滤波器的移动机器人的姿势的方法包括：通过将检测到的姿势变化应用于前一个的姿势，来检测移动机器人的姿势变化并计算当前粒子的姿态粒子，根据由传感器获得的范围数据和地图信息，预测当前粒子的姿态的概率并获得当前粒子的权重，基于权重对当前粒子进行重采样，并且调整权重考虑传感器的误差。

43. 发明授权

US08521329B2 Obstruction-determining apparatus for preventing mobile robot from becoming obstructed and boundary-estimation method and medium using the obstruction-determining apparatus 失效
标题翻译：用于防止移动机器人被阻挡的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质
公开(公告)号：US08521329B2
公开(公告)日：2013-08-27
申请号：US11898060
申请日：2007-09-07
申请人： Ji-young Park , Seok-won Bang , Eun-Young Choi
发明人： Ji-young Park , Seok-won Bang , Eun-Young Choi
IPC分类号： G05B19/418 , G06F19/00
CPC分类号： G05D1/0227 , A47L11/4061 , A47L11/4072 , A47L2201/04
摘要： An obstruction-determining apparatus for preventing a mobile robot from being obstructed in a niche and a boundary-estimation method and medium using the obstruction-determining apparatus are disclosed. More particularly, an obstruction-determining apparatus which can determine whether a mobile robot is obstructed in a niche, and enable a mobile robot to easily escape from an obstacle if the mobile robot is determined to be obstructed in the niche, and a boundary-estimation method and medium for estimating the boundaries of an obstacle with a niche using the obstruction-determining apparatus. The obstruction-determining apparatus includes a contact module which collides with an obstacle above the mobile robot, a contact-operating module which rotates or moves linearly as a result of the collision between the contact module and the obstacle, and a sensing module which detects the rotation or the linear movement of the contact-operating module and determines whether the mobile robot is obstructed in a niche.
摘要翻译：公开了一种用于防止移动机器人在利基中被阻碍的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质。更具体地，涉及一种障碍物判定装置，其能够判断移动机器人是否受到利基的阻碍，并且如果移动机器人被确定为在利基中被阻碍，则能够使移动机器人容易地从障碍物逃脱，并且边界估计方法和介质，用于使用障碍物确定装置估计具有利基的障碍物的边界。障碍物确定装置包括与移动机器人上方的障碍物相撞的接触模块，由于接触模块与障碍物之间的碰撞而线性旋转或移动的接触操作模块，以及检测模块旋转或接触操作模块的线性移动，并确定移动机器人是否在利基中被阻挡。

44. 发明授权

US08379966B2 Apparatus and method for recognizing position of mobile robot 有权
公开(公告)号：US08379966B2
公开(公告)日：2013-02-19
申请号：US12218058
申请日：2008-07-11
申请人： Woo-yeon Jeong , Jun-ho Park , Seok-won Bang
发明人： Woo-yeon Jeong , Jun-ho Park , Seok-won Bang
IPC分类号： G06K9/00 , G05B15/00
CPC分类号： G06K9/00664 , G05D1/0246 , G06K9/2027 , G06T1/0007
摘要： Provided is an apparatus for recognizing the position of a mobile robot. The apparatus includes an image capturing unit which is loaded into a mobile robot and captures an image; an illuminance determining unit which determines illuminance at a position where an image is to be captured; a light-emitting unit which emits light toward the position; a light-emitting control unit which controls the light-emitting unit according to the determined illuminance; a driving control unit which controls the speed of the mobile robot according to the determined illuminance; and a position recognizing unit which recognizes the position of the mobile robot by comparing a pre-stored image to the captured image.

45. 发明授权

US08346389B2 Cleaning robot having carpet detector and method of detecting carpet boundary using the same 有权
标题翻译：具有地毯检测器的清洁机器人及使用其检测地毯边界的方法
公开(公告)号：US08346389B2
公开(公告)日：2013-01-01
申请号：US11634146
申请日：2006-12-06
申请人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
发明人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0227 , A47L9/2826 , A47L9/2852 , A47L2201/04 , G05D1/0272 , G05D2201/0203
摘要： A cleaning robot having a carpet detector and a method of detecting a carpet boundary using the same, in which the presence of the carpet on a floor is detected. The cleaning robot having a carpet detector includes a main body, a driver fixed to the main body to move the robot, and the carpet detector detecting a carpet when the robot is driven by the driver. The method of detecting a carpet boundary includes detecting a carpet using respective carpet detectors fixed to both wheels of a robot, obtaining a moving distance of the robot for an interval between times at which the respective carpet detectors detect the carpet, and calculating a boundary direction of the carpet with respect to a moving direction of the robot using the moving distance and the interval between the times at which the respective carpet detectors detect the carpet.
摘要翻译：一种具有地毯检测器的清洁机器人和使用该清洁机器人检测地毯边缘的方法，其中检测到地毯上的存在。具有地毯检测器的清洁机器人包括主体，固定到主体以使机器人移动的驱动器，以及当机器人被驾驶员驱动时检测地毯的地毯检测器。检测地毯边界的方法包括使用固定在机器人的两个轮上的各自的地毯检测器来检测地毯，获得机器人在各个地毯检测器检测到地毯的时间之间的时间间隔的移动距离，以及计算边界方向的地毯相对于机器人的移动方向使用移动距离和各个地毯检测器检测到地毯的时间之间的间隔。

46. 发明授权

US08315734B2 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协方差对其进行定位的介质
公开(公告)号：US08315734B2
公开(公告)日：2012-11-20
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
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分歧的条件。

47. 发明授权

US08060254B2 Method, apparatus, and medium for building grid map in mobile robot and method, apparatus, and medium for cell decomposition that uses grid map 有权
标题翻译：移动机器人构建网格图的方法，装置和介质，使用网格图的方法，装置和细胞分解介质
公开(公告)号：US08060254B2
公开(公告)日：2011-11-15
申请号：US11654015
申请日：2007-01-17
申请人： Hyeon Myeong , Dong-geon Kong , Su-jinn Lee , Seok-won Bang
发明人： Hyeon Myeong , Dong-geon Kong , Su-jinn Lee , Seok-won Bang
IPC分类号： G06F19/00 , G05D1/00
CPC分类号： G05D1/0274 , G05D1/0246
摘要： Provided are a method, apparatus, and medium for building a grid map in a mobile robot and a method, apparatus, and medium for cell decomposition using the grid map building method and apparatus. A mobile robot for building a grid map includes a grid map building unit obtaining grid points by sensing a distance to an external space or obstacle, and building a grid map, a feature point extraction unit extracting feature points from the grid points, a feature point update unit estimating the pose of the robot after the robot moves, and obtaining updated feature points by SLAM (Simultaneous Localization And Map building) algorithm, a transform formula calculation unit calculating a transform formula that transforms feature points extracted by the feature point extraction unit into feature points updated by the feature point update unit, and a grid map update unit updating the grid map according to the obtained formula.
摘要翻译：提供了一种用于在移动机器人中构建网格图的方法，装置和介质，以及使用网格图构建方法和装置的用于小区分解的方法，装置和介质。用于构建网格图的移动机器人包括网格图建立单元，通过感测到外部空间或障碍物的距离获得网格点，并构建网格图，特征点提取单元从网格点提取特征点，特征点更新单元估计机器人移动后机器人的姿势，并通过SLAM（同时定位和地图构建）算法获得更新的特征点;变换公式计算单元，计算将由特征点提取单元提取的特征点变换为由特征点更新单元更新的特征点，以及网格图更新单元，根据获得的公式更新网格图。

48. 发明授权

US08055382B2 Methods, apparatus, and medium for estimating pose of mobile robot using particle filter 有权
标题翻译：使用粒子滤波器估计移动机器人姿态的方法，装置和介质
公开(公告)号：US08055382B2
公开(公告)日：2011-11-08
申请号：US11898779
申请日：2007-09-14
申请人： Hyeon Myeong , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
发明人： Hyeon Myeong , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
IPC分类号： G05B19/18
CPC分类号： G05D1/0272 , G05D1/0255 , G05D1/0274 , G05D2201/0203
摘要： Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor
摘要翻译：公开了一种用于估计使用粒子滤波器的移动机器人姿态的方法，装置和介质。根据本发明的实施例的用于估计使用粒子滤波器的移动机器人的姿势的方法包括：通过将检测到的姿势变化应用于前一个的姿势，来检测移动机器人的姿势变化并计算当前粒子的姿态粒子，根据由传感器获得的范围数据和地图信息，预测当前粒子的姿态的概率并获得当前粒子的权重，基于权重对当前粒子进行重采样，并且调整权重考虑传感器的误差。

49. 发明授权

US07983449B2 System, method, and medium for detecting moving object using structured light, and mobile robot including system thereof 有权
标题翻译：使用结构光检测移动物体的系统，方法和介质，以及包括其系统的移动机器人
公开(公告)号：US07983449B2
公开(公告)日：2011-07-19
申请号：US11772500
申请日：2007-07-02
申请人： Jun-ho Park , Dong-ryeol Park , Seok-won Bang
发明人： Jun-ho Park , Dong-ryeol Park , Seok-won Bang
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06K9/2036 , G06T7/254 , G06T2207/10028
摘要： A system, a method, and medium for detecting a moving object using a structured light, and a mobile robot including the system are provided. The system includes an image obtaining unit to obtain a first image at a predetermined position and a second image at a position after a movement of the system by using a light source; an image predicting unit to predict the second image at the position after the movement of the system by using the first image and information with respect to the movement of the system; and a comparing/analyzing unit to compare and analyze the second image obtained by the image obtaining unit and the second image predicted by the image predicting unit.
摘要翻译：提供了一种用于使用结构化光检测移动物体的系统，方法和介质，以及包括该系统的移动机器人。该系统包括图像获取单元，用于通过使用光源在系统的移动之后的位置处获得预定位置处的第一图像和第二图像; 图像预测单元，用于通过使用第一图像来预测系统移动之后的位置处的第二图像和关于系统的移动的信息; 以及比较/分析单元，用于比较和分析由图像获取单元获得的第二图像和由图像预测单元预测的第二图像。

50. 发明授权

US07916931B2 Apparatus, method, and medium for dividing regions by using feature points and mobile robot using the same 有权
标题翻译：用于使用特征点分割区域的装置，方法和介质，以及使用其的移动机器人
公开(公告)号：US07916931B2
公开(公告)日：2011-03-29
申请号：US11822407
申请日：2007-07-05
申请人： Su-jinn Lee , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
发明人： Su-jinn Lee , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
IPC分类号： G05B19/04 , G05B19/18 , G06K9/00 , H04N7/00
CPC分类号： G06K9/00771 , G05D1/0274 , G05D2201/0203
摘要： An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pairs of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.
摘要翻译：提供了一种通过使用特征点来划分区域的装置，方法和介质，以及使用其的移动机器人清洁器。一种方法包括通过使用通过检测移动机器人与障碍物的距离而获得的多个网格点来形成网格图; 从网格图中提取特征点; 从特征点提取位于区域分割元素的范围内的特征点的候选对; 从特征点的候选对中提取满足区域分割要素的最终特征点对; 通过连接最后一对特征点形成关键线; 并且根据连接关键线和网格图的闭合曲线形成的区域之间的尺寸关系形成最终区域。

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