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61. 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。

62. 发明授权

US07679997B2 Method and apparatus for estimating position of robot 有权
标题翻译：用于估计机器人位置的方法和装置
公开(公告)号：US07679997B2
公开(公告)日：2010-03-16
申请号：US11808001
申请日：2007-06-05
申请人： Dong-geon Kong , Eun-young Choi , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
发明人： Dong-geon Kong , Eun-young Choi , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
IPC分类号： G01S3/80
CPC分类号： G01S5/26 , G01S11/16
摘要： A method and apparatus estimating a position of a moving robot are provided. The method includes receiving a primary signal and a secondary signal transmitted from a predetermined signal transmitter using a sensor, on a moving robot, that receives the primary signal and three or more sensors that receive the secondary signal; calculating a transmission distance from a sensor that receives the secondary signal using time information extracted from the primary signal; and calculating a position of the signal transmitter from the distance, wherein the secondary signal comprises first and second secondary signals and each sensor that senses the secondary signal determines whether to amplify the second secondary signal based on the result of the measurement of the first secondary signal.
摘要翻译：提供了估计移动机器人的位置的方法和装置。该方法包括：在运动的机器人上接收主信号和从接收次级信号的三个或更多个传感器的使用传感器的预定信号发射器发送的主信号和次信号; 使用从所述主信号提取的时间信息计算从接收所述辅助信号的传感器的传输距离; 以及从所述距离计算所述信号发射机的位置，其中所述辅助信号包括第一和第二辅助信号，并且感测所述次级信号的每个传感器基于所述第一辅助信号的测量结果来确定是否放大所述第二辅助信号。

63. 发明授权

US07653247B2 System and method for extracting corner point in space using pixel information, and robot using the system 有权
标题翻译：使用像素信息提取空间角点的系统和方法，以及使用该系统的机器人
公开(公告)号：US07653247B2
公开(公告)日：2010-01-26
申请号：US11237660
申请日：2005-09-29
申请人： Myung-Jin Jung , Dong-Ryeol Park , Seok-Won Bang , Hyoung-Ki Lee
发明人： Myung-Jin Jung , Dong-Ryeol Park , Seok-Won Bang , Hyoung-Ki Lee
IPC分类号： G06K9/46 , G06K9/00 , G06F19/00
CPC分类号： G06K9/00201 , G06T7/11 , G06T2207/10028 , G06T2207/20164 , G06T2207/30204 , G06T2207/30248
摘要： A system and method for extracting a corner point in a space using pixel information obtained from a camera are provided. The corner point extracting system includes a light generation module emitting light in a predetermined form (such as a plane form), an image acquisition module acquiring an image of a reflector reflecting the light emitted from the light generation module, and a control module obtaining distance data between the light generation module and the reflector using the acquired image and extracting a corner point by performing split-merge using a threshold proportional to the distance data. The threshold is a value proportional to the distance data which corresponds to pixel information of the image acquisition module.
摘要翻译：提供了一种使用从相机获得的像素信息来提取空间中的角点的系统和方法。角点提取系统包括以预定形式（例如平面形式）发光的光生成模块，获取反射从光生成模块发射的光的反射镜的图像的图像获取模块，以及获取距离使用所获取的图像在光生成模块和反射器之间的数据，并且通过使用与距离数据成比例的阈值执行分割合并来提取角点。阈值是与对应于图像获取模块的像素信息的距离数据成比例的值。

64. 发明申请

US20090149990A1 Method, medium, and apparatus for performing path planning of mobile robot 有权
标题翻译：用于执行移动机器人的路径规划的方法，介质和装置
公开(公告)号：US20090149990A1
公开(公告)日：2009-06-11
申请号：US12314088
申请日：2008-12-03
申请人： Hyeon Myeong , Seok-won Bang
发明人： Hyeon Myeong , Seok-won Bang
IPC分类号： G06F17/00
CPC分类号： G05D1/0274 , G05D2201/0203
摘要： A method, medium, and apparatus for performing path planning of a mobile robot is provided. The apparatus for performing path planning of a mobile robot includes a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided, and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit. The method of performing path planning of a mobile robot includes generating a coarse map composed of a plurality of cells, generating a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells, which neighbors the cell where an obstacle exists, is divided, generating a moving path whereby the mobile robot can pass a narrow passage by using the fine map, and updating the coarse map by reflecting the moving path.
摘要翻译：提供了一种用于执行移动机器人的路径规划的方法，介质和装置。用于执行移动机器人的路径规划的装置包括粗略地图生成单元，用于生成由多个单元组成的粗略地图; 精细图生成单元，生成由多个子单元中的至少一个单元划分成的多个子单元组成的精细图，以及路径生成单元，控制精细图生成单元，生成与该到通过粗略地图生成单元生成的粗略图中的指定位置。执行移动机器人的路径规划的方法包括生成由多个小区组成的粗略地图，生成由多个子小区组成的精细地图，多个小区中的至少一个小区邻近于该小区，存在障碍物，被分割，产生移动机器人可以通过使用精细地图通过狭窄通道的移动路径，并且通过反映移动路径来更新粗略地图。

65. 发明申请

US20090028387A1 Apparatus and method for recognizing position of mobile robot 有权
标题翻译：识别移动机器人位置的装置和方法
公开(公告)号：US20090028387A1
公开(公告)日：2009-01-29
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： G06K9/62
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.
摘要翻译：提供了一种用于识别移动机器人的位置的装置。该装置包括：图像拍摄单元，其被加载到移动机器人中并捕获图像; 照度确定单元，确定要拍摄图像的位置处的照度; 朝向该位置发光的发光单元; 发光控制单元，其根据所确定的照度控制所述发光单元; 驱动控制单元，其根据确定的照度控制移动机器人的速度; 以及位置识别单元，通过将预先存储的图像与捕获的图像进行比较来识别移动机器人的位置。

66. 发明申请

US20090024251A1 Method and apparatus 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和装置
公开(公告)号：US20090024251A1
公开(公告)日：2009-01-22
申请号：US12155552
申请日：2008-06-05
申请人： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
发明人： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0207
摘要： A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.
摘要翻译：提供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和装置。该装置包括检测移动机器人的姿势变化的里程表，从移动机器人捕获的向上图像中提取至少一个特征的特征处理模块，以及确定当前姿势和权重的粒子滤波器模块多个粒子通过将移动机器人姿态变化由里程表检测出，并将特征提取的特征提取到粒子的先前姿态和重量。

67. 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。

68. 发明申请

US20070271004A1 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：US20070271004A1
公开(公告)日：2007-11-22
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。

69. 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。

70. 发明申请

US20070190940A1 System and method for human body communication 有权
标题翻译：人体通讯系统与方法
公开(公告)号：US20070190940A1
公开(公告)日：2007-08-16
申请号：US11517393
申请日：2006-09-08
申请人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
发明人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
IPC分类号： H04B5/00 , H04B7/00
CPC分类号： H04B5/0012 , H04B13/005 , Y02D70/144 , Y02D70/42
摘要： A human body communication system. The human body communication system includes a controlled device measuring a capacitance that corresponds to the distance to a human body, and transmitting information on the measured capacitance through a wireless medium; and a control device receiving the information, and then, based on the information, determining a transmission power and, with the determined transmission power, transmitting a control command of a user to the controlled device using the human body as a medium.
摘要翻译：人体通讯系统人体通信系统包括测量对应于人体距离的电容的受控设备，以及通过无线介质发送关于所测量电容的信息; 以及接收信息的控制装置，然后基于该信息，确定发送功率，并且利用所确定的发送功率，使用人体作为媒体将用户的控制命令发送到被控制装置。

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