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61. 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。

62. 发明授权

US08060256B2 Apparatus, method, and medium for localizing moving robot and transmitter 有权
标题翻译：用于定位移动机器人和发射机的装置，方法和介质
公开(公告)号：US08060256B2
公开(公告)日：2011-11-15
申请号：US11822438
申请日：2007-07-05
申请人： Dong-geon Kong , Seok-won Bang , Hyeon Myeong
发明人： Dong-geon Kong , Seok-won Bang , Hyeon Myeong
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G05D1/0272 , G01S5/30 , G01S11/16 , G05D1/0255 , G05D2201/0203 , G05D2201/0216
摘要： Provided are an apparatus allowing a moving robot to localize a user, or localizing the moving robot from a fixed location, and a method and medium thereof. The apparatus includes a motion controller to control the moving robot such that the sensor passes a plurality of measurement points by rotating the moving robot, a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter at the plurality of measurement points, a rotational angle measuring unit to measure rotational angles of the moving robot at the measurement points, and a location calculator to calculate relative locations using input values of the measured distances, the measured rotational angles, and the radius of a circle determined by the sensor resulting from the rotation of the moving robot.
摘要翻译：提供了一种允许移动机器人定位用户或将固定位置的移动机器人定位的装置及其方法和介质。该装置包括运动控制器，用于控制移动机器人，使得传感器通过旋转移动机器人而传递多个测量点，距离测量单元包括感测从发射器产生的预定波的传感器，以测量距离测量单元传感器和多个测量点处的发射器，用于测量移动机器人在测量点处的旋转角度的旋转角度测量单元，以及位置计算器，使用测量距离的输入值，测量的旋转角度，以及由移动机器人的旋转产生的由传感器确定的圆的半径。

63. 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。

64. 发明申请

US20110211731A1 APPARATUS, METHOD, AND MEDIUM FOR DIVIDING REGIONS BY USING FEATURE POINTS AND MOBILE ROBOT USING THE SAME 有权
标题翻译：通过使用特征点和使用其的移动机器人分配区域的装置，方法和介质
公开(公告)号：US20110211731A1
公开(公告)日：2011-09-01
申请号：US13050459
申请日：2011-03-17
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： G06K9/00 , G06K9/34
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 pair 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; 从候选对特征点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。

65. 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。

66. 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。

67. 发明授权

US07649490B2 Method, and apparatus for measuring distance using radio frequency signal 有权
标题翻译：使用射频信号测量距离的方法和装置
公开(公告)号：US07649490B2
公开(公告)日：2010-01-19
申请号：US11907947
申请日：2007-10-18
申请人： Jun-ho Park , Seok-won Bang , Ji-young Park
发明人： Jun-ho Park , Seok-won Bang , Ji-young Park
IPC分类号： G01S13/00 , G01S13/08 , G01C22/00 , G01C21/00 , B25J5/00
CPC分类号： G01S13/74 , G01S7/40
摘要： Provided are a method, apparatus, and medium for measuring a distance using a radio frequency (RF) signal. The method of measuring a distance includes setting the transmitter power of an RF signal of a signal generating module to a minimum so as to measure the longest distance when no obstacle exists, measuring a distance between the signal generating module and a fixed module using the RF signal whose transmitter power is set to the minimum, if the measured distance between the signal generating module and the fixed module is available, determining that no obstacle exists therebetween, and if the measured distance is not available, determining that an obstacle exists therebetween, and determining the distance according to the result of the determination of existence of an obstacle.
摘要翻译：提供了一种使用射频（RF）信号测量距离的方法，装置和介质。测量距离的方法包括将信号发生模块的RF信号的发射机功率设置为最小，以便在没有障碍物时测量最长距离，使用RF测量信号发生模块和固定模块之间的距离如果信号发生模块和固定模块之间的测量距离可用，确定其间没有障碍物，并且如果测量距离不可用，则确定其间存在障碍物，以及根据确定障碍物的存在的结果确定距离。

68. 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。

69. 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。

70. 发明申请

US20080273791A1 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：US20080273791A1
公开(公告)日：2008-11-06
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： G06K9/00 , G06K9/34
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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