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1. 发明授权

US09305217B2 Object tracking system using robot and object tracking method using a robot 有权
标题翻译：使用机器人的对象跟踪系统和使用机器人的对象跟踪方法
公开(公告)号：US09305217B2
公开(公告)日：2016-04-05
申请号：US13545558
申请日：2012-07-10
申请人： Dae Ha Lee , Min Su Jang , Seo Hyun Jeon , Young Jo Cho , Jae Hong Kim
发明人： Dae Ha Lee , Min Su Jang , Seo Hyun Jeon , Young Jo Cho , Jae Hong Kim
IPC分类号： G06K9/00 , H04N7/18 , G06K9/20 , G06K9/32 , G06T7/20
CPC分类号： G06K9/00664 , G06K9/2018 , G06K9/3241 , G06T7/215 , G06T2207/30201 , H04N7/18
摘要： Disclosed are an object tracking system using a robot and an object tracking method using a robot. The present invention provides an object tracking system using a robot and an object tracking method using a robot capable of continuously performing object tracking without missing the corresponding object even when the object deviates from a viewing angle of a camera, in tracking an image based object (person) using a robot.
摘要翻译：公开了使用机器人的物体跟踪系统和使用机器人的物体跟踪方法。本发明提供一种使用机器人的对象跟踪系统和使用能够连续执行对象跟踪的对象跟踪方法，即使当对象偏离照相机的视角时，也不会丢失相应的对象，在跟踪基于图像的对象（人）使用机器人。

2. 发明授权

US08761934B2 Method and system for performing seamless localization 有权
标题翻译：执行无缝定位的方法和系统
公开(公告)号：US08761934B2
公开(公告)日：2014-06-24
申请号：US13328557
申请日：2011-12-16
申请人： Chang Eun Lee , Tae-Kyung Sung , Sung Hoon Kim , Hyun-Ja Im , Young-Jo Cho
发明人： Chang Eun Lee , Tae-Kyung Sung , Sung Hoon Kim , Hyun-Ja Im , Young-Jo Cho
IPC分类号： G05D1/02
CPC分类号： G05D1/0282 , G05D1/0278 , G05D1/0291
摘要： A system achieves seamless localization for a plurality of robots when first some robots moves to a shadow area where GPS signals are not received while remaining second robots receives the GPS signals, by performing an absolute localization for the second robots using the GPS signals; and performing an absolute localization for the second robots using the GPS signals; performing a relative localization for the first robots based on the second robots, thereby determining an absolute location of the first robots. Further, when the second robots move to the shadow area where the first robots have been moved, the system performs the seamless localization by determining a relative location of the second robots based on the first robots on which the relative localization has been performed, thereby determining an absolute location of the second robots based on the relative location of the second robots.
摘要翻译：当第一个机器人移动到没有接收到GPS信号的阴影区域，而剩下的第二机器人接收到GPS信号时，通过使用GPS信号执行第二机器人的绝对定位，系统实现多个机器人的无缝定位。并使用GPS信号对第二机器人执行绝对定位; 基于第二机器人执行第一机器人的相对定位，从而确定第一机器人的绝对位置。此外，当第二机器人移动到第一机器人被移动的阴影区域时，系统通过基于执行了相对定位的第一机器人确定第二机器人的相对位置来执行无缝定位，从而确定基于第二机器人的相对位置的第二机器人的绝对位置。

3. 发明授权

US08579838B2 Multi-sensor signal processing system for detecting walking intent, walking supporting apparatus comprising the system and method for controlling the apparatus 有权
标题翻译：用于检测行走意图的多传感器信号处理系统，包括用于控制装置的系统和方法的步行辅助装置
公开(公告)号：US08579838B2
公开(公告)日：2013-11-12
申请号：US12970538
申请日：2010-12-16
申请人： Eun Hye Jang , Young Jo Cho , Jae Yeon Lee , Su Young Chi , Byung Tae Chun
发明人： Eun Hye Jang , Young Jo Cho , Jae Yeon Lee , Su Young Chi , Byung Tae Chun
IPC分类号： A61H1/00 , A61H1/02 , A61H5/00
CPC分类号： A61H3/008 , A61H1/0266 , A61H3/00 , A61H2201/1623 , A61H2201/163 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5097
摘要： Provided is a walking supporting apparatus for supporting a user walking by using a multi-sensor signal processing system that detects a walking intent. A palm sensor unit detects a force applied to a palm through a stick to generate a palm sensor signal. A sensor unit detects a force applied to a sole through the ground to generate a sole sensor signal. A portable information processing unit checks a user's walking intent by using the palm sensor signal, and if it is checked that the user has a walking intent, the portable information processing unit generates a driving signal in response to the sole sensor signal. A walking supporting mechanism includes a left motor attached to a user's left leg and a right motor attached to a user's right leg to support the user's walking when the left and right motors are driven in response to the driving signal.
摘要翻译：提供了一种用于通过使用检测步行意图的多传感器信号处理系统来支持用户行走的步行辅助装置。手掌传感器单元通过棒检测施加到手掌的力以产生手掌传感器信号。传感器单元检测通过地面施加到鞋底的力以产生唯一的传感器信号。便携式信息处理单元通过使用手掌传感器信号来检查用户的行走意图，并且如果检查到用户具有行走意图，则便携式信息处理单元响应于唯一的传感器信号产生驱动信号。行走支撑机构包括附接到使用者的左腿的左电动机和附接到用户的右腿的右电动机，以响应于驱动信号驱动左右电动机来支持用户的行走。

4. 发明申请

US20090153499A1 TOUCH ACTION RECOGNITION SYSTEM AND METHOD 审中-公开
标题翻译：触摸动作识别系统和方法
公开(公告)号：US20090153499A1
公开(公告)日：2009-06-18
申请号：US12190760
申请日：2008-08-13
申请人： Jae Hong KIM , Sang Seung Kang , Joo Chan Sohn , Hyun Kyu Cho , Young-Jo Cho
发明人： Jae Hong KIM , Sang Seung Kang , Joo Chan Sohn , Hyun Kyu Cho , Young-Jo Cho
IPC分类号： G06F3/041
CPC分类号： G06F3/011 , G06F3/0414
摘要： A system for recognizing a touch action that a person has performed upon an object, is provided with a sensor component for detecting a sensor value corresponding to the touch action through an inertial sensor attached to part of a body of the person; and a signal processing component for recognizing the touch action from the sensor value detected by the sensor component and transferring the recognized touch action to the object. Further, a method for recognizing a touch action that a person has performed upon an object, is provided with: detecting a sensor value corresponding to the touch action through an inertial sensor attached to part of a body of the person; and recognizing the touch action from the detected sensor value and transferring the recognized touch action to the object.
摘要翻译：用于识别人已经对物体进行的触摸动作的系统设置有用于通过附接到人的身体的一部分的惯性传感器来检测与触摸动作对应的传感器值的传感器部件; 以及信号处理部件，用于从由传感器部件检测到的传感器值识别触摸动作，并将识别的触摸动作传送到对象。此外，用于识别人已经对物体进行的触摸动作的方法被提供有：通过附接到人的身体的一部分的惯性传感器来检测与触摸动作相对应的传感器值; 以及从检测到的传感器值识别触摸动作并将识别的触摸动作传送到对象。

5. 发明申请

US20080119959A1 EXPRESSION OF EMOTIONS IN ROBOT 审中-公开
标题翻译：表达机器人中的情绪
公开(公告)号：US20080119959A1
公开(公告)日：2008-05-22
申请号：US11930659
申请日：2007-10-31
申请人： Cheonshu PARK , Joung Woo RYU , Joo Chan SOHN , Young Jo CHO
发明人： Cheonshu PARK , Joung Woo RYU , Joo Chan SOHN , Young Jo CHO
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A method and apparatus for expressing an emotion of a robot, which are applicable to different emotion robot platforms are provided. The method of expressing an emotion of a robot, the method includes: collecting emotion information by at least one internal or external sensor; generating an emotion and determining a behavior based on the collected information; determining an emotion expression, emotional intensity, and an action unit according to the generated emotion; generating an emotion expression document according to the determined emotion expression, emotional intensity, and action unit; analyzing the emotion expression document; and controlling the robot based on the initial status information of the robot and the generated emotion expression document.
摘要翻译：提供了一种用于表达机器人情感的方法和装置，其适用于不同的情感机器人平台。一种表达机器人情感的方法，所述方法包括：通过至少一个内部或外部传感器收集情感信息; 基于收集的信息产生情感并确定行为; 根据生成的情绪确定情感表达，情绪强度和行动单位; 根据确定的情感表达，情绪强度和行动单位产生情感表达文件; 分析情感表达文件; 并且基于机器人的初始状态信息和生成的情感表达文档来控制机器人。

6. 发明申请

US20080082209A1 ROBOT ACTUATOR AND ROBOT ACTUATING METHOD 审中-公开
标题翻译：机器人执行器和机器人执行方法
公开(公告)号：US20080082209A1
公开(公告)日：2008-04-03
申请号：US11861411
申请日：2007-09-26
申请人： Sang Seung KANG , Jae Hong KIM , Joo Chan SOHN , Young Jo CHO
发明人： Sang Seung KANG , Jae Hong KIM , Joo Chan SOHN , Young Jo CHO
IPC分类号： B25J13/08
CPC分类号： B25J9/1615 , G05B2219/41313
摘要： A robot actuator and a robot actuating method. In the robot actuator, when an input part detects an external stimulus signal according to a user's contact, a control part receives the detected external stimulus signal to create sensor data. The control part determines an output reaction, and an output actuator through the created sensor data and controls the output actuator according to the determined output reaction. Thus, an axial skeletal unit of an output part is moved according to an operation of the output actuator to express the output reaction. Accordingly, a natural, lively reaction of the robot actuator to an external stimulus can be achieved.
摘要翻译：机器人致动器和机器人致动方法。在机器人致动器中，当输入部根据用户的接触检测外部刺激信号时，控制部接收检测出的外部刺激信号，生成传感器数据。控制部分通过产生的传感器数据确定输出反应和输出致动器，并根据确定的输出反应来控制输出致动器。因此，根据输出致动器的操作，输出部件的轴向骨架单元移动以表示输出反应。因此，可以实现机器人致动器对外部刺激的自然，活泼的反应。

7. 发明申请

US20080077277A1 APPARATUS AND METHOD FOR EXPRESSING EMOTIONS IN INTELLIGENT ROBOT BY USING STATE INFORMATION 审中-公开
标题翻译：使用状态信息在智能机器人中表达情感的装置和方法
公开(公告)号：US20080077277A1
公开(公告)日：2008-03-27
申请号：US11846010
申请日：2007-08-28
申请人： Cheon Shu PARK , Joung Woo RYU , Joo Chan SOHN , Young Jo CHO
发明人： Cheon Shu PARK , Joung Woo RYU , Joo Chan SOHN , Young Jo CHO
IPC分类号： B25J9/00 , B25J19/02
CPC分类号： G06N3/008
摘要： An apparatus and method for expressing emotions in an intelligent robot. In the apparatus, a plurality of different sensors sense information about internal/external stimuli. A state information collector processes the detected information about the internal/external stimuli in a hierarchical structure to collect external state information. An emotion motive determiner determines an emotion need motive on the basis of the external state information and the degree of a change in an emotion need parameter corresponding to internal state information. An emotion state manager extracts available means information for satisfaction of the generated emotion needs motive and state information corresponding to the available means information. An emotion generator generates emotion information on the basis of a feature value of the extracted state information. An action determiner determines action information for satisfaction of the emotion need motive on the basis of the extracted state information and the generated emotion information. An action expresser expresses an action corresponding to the action information through a corresponding actuator on the basis of the determined action information.
摘要翻译：一种用于在智能机器人中表达情绪的装置和方法。在该装置中，多个不同的传感器感测关于内部/外部刺激的信息。状态信息收集器以层次结构处理检测到的关于内部/外部刺激的信息以收集外部状态信息。情绪动机确定器根据外部状态信息和对应于内部状态信息的情感需求参数的变化程度来确定情绪需求动机。情绪状态管理器提取可用意味着信息以满足生成的情绪需求动机和对应于可用装置信息的状态信息。情绪发生器基于所提取的状态信息的特征值生成情感信息。动作确定器基于提取的状态信息和生成的情感信息来确定满足情绪需求动机的动作信息。动作表示器基于所确定的动作信息，通过对应的致动器来表示对应于动作信息的动作。

8. 发明授权

US06173208B2 Method for generating control codes for use in a process control system 失效
标题翻译：用于生成用于过程控制系统的控制代码的方法
公开(公告)号：US06173208B2
公开(公告)日：2001-01-09
申请号：US09058966
申请日：1998-04-13
申请人： Jung Min Park , Young Jo Cho , Woo Jung Huh , Eung Seok Kim
发明人： Jung Min Park , Young Jo Cho , Woo Jung Huh , Eung Seok Kim
IPC分类号： G05B1500
CPC分类号： G05B19/056 , G05B2219/13134
摘要： Structured control codes which control a subject system are generated in a process control system having a user interface of a function block diagram editor including basic function block menus which represent a plurality of predetermined basic function blocks. The structured control codes are generated by the steps of: providing input/output data of the subject system in the form of database; retrieving the input/output data of the subject system; providing the input/output data as an input/output block menu on the user interface of the function block diagram editor; building a control algorithm by using the input/output block menus and the basic function block menus on the user interface; and converting the control algorithm to structured control codes.
摘要翻译：在具有包括表示多个预定基本功能块的基本功能块菜单的功能块图编辑器的用户界面的过程控制系统中生成控制主题系统的结构化控制代码。结构化控制代码通过以下步骤生成：提供数据库形式的主题系统的输入/输出数据; 检索主题系统的输入/输出数据; 在功能块图编辑器的用户界面上提供输入/输出数据作为输入/输出块菜单; 通过使用用户界面上的输入/输出块菜单和基本功能块菜单构建控制算法; 并将控制算法转换为结构化控制代码。

9. 发明授权

US08099372B2 Method of modeling composite emotion in multidimensional vector space 有权
标题翻译：多维向量空间复合情感建模方法
公开(公告)号：US08099372B2
公开(公告)日：2012-01-17
申请号：US12147541
申请日：2008-06-27
申请人： Joung Woo Ryu , Cheonshu Park , Joo Chan Sohn , Hyun Kyu Cho , Young-Jo Cho
发明人： Joung Woo Ryu , Cheonshu Park , Joo Chan Sohn , Hyun Kyu Cho , Young-Jo Cho
IPC分类号： G06N5/00 , G06F17/00
CPC分类号： G06K9/00335 , G06K9/6271
摘要： A method of modeling a composite emotion in a multidimensional vector space, is provided with creating an emotion vector space by defining dimensions of a vector space in consideration of stimuli affecting emotions, and dividing a defined multidimensional vector space into emotion regions. Further, the method of modeling a composite emotion in a multidimensional vector space includes creating a composite emotion by calculating a fuzzy partitioned matrix between a current state vector and respective representative vectors in the created emotion vector space.
摘要翻译：提供了一种在多维向量空间中对复合情感建模的方法，通过考虑影响情绪的刺激定义向量空间的维度，并将定义的多维向量空间划分为情感区域，来创建情感向量空间。此外，在多维向量空间中对复合情绪进行建模的方法包括通过计算当前状态向量与所创建的情绪向量空间中的各个代表向量之间的模糊分割矩阵来创建复合情绪。

10. 发明申请

US20110152732A1 MULTI-SENSOR SIGNAL PROCESSING SYSTEM FOR DETECTING WALKING INTENT, WALKING SUPPORTING APPARATUS COMPRISING THE SYSTEM AND METHOD FOR CONTROLLING THE APPARATUS 有权
标题翻译：用于检测运动功能的多传感器信号处理系统，包括系统的运行支持装置和用于控制装置的方法
公开(公告)号：US20110152732A1
公开(公告)日：2011-06-23
申请号：US12970538
申请日：2010-12-16
申请人： Eun Hye JANG , Young Jo Cho , Jae Yeon Lee , Su Young Chi , Byung Tae Chun
发明人： Eun Hye JANG , Young Jo Cho , Jae Yeon Lee , Su Young Chi , Byung Tae Chun
IPC分类号： A61H3/00 , A45B3/00
CPC分类号： A61H3/008 , A61H1/0266 , A61H3/00 , A61H2201/1623 , A61H2201/163 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5097
摘要： Provided is a walking supporting apparatus for supporting a user walking by using a multi-sensor signal processing system that detects a walking intent. A palm sensor unit detects a force applied to a palm through a stick to generate a palm sensor signal. A sensor unit detects a force applied to a sole through the ground to generate a sole sensor signal. A portable information processing unit checks a user's walking intent by using the palm sensor signal, and if it is checked that the user has a walking intent, the portable information processing unit generates a driving signal in response to the sole sensor signal. A walking supporting mechanism includes a left motor attached to a user's left leg and a right motor attached to a user's right leg to support the user's walking when the left and right motors are driven in response to the driving signal.
摘要翻译：提供了一种用于通过使用检测步行意图的多传感器信号处理系统来支持用户行走的步行辅助装置。手掌传感器单元通过棒检测施加到手掌的力以产生手掌传感器信号。传感器单元检测通过地面施加到鞋底的力以产生唯一的传感器信号。便携式信息处理单元通过使用手掌传感器信号来检查用户的行走意图，并且如果检查到用户具有行走意图，则便携式信息处理单元响应于唯一的传感器信号产生驱动信号。行走支撑机构包括附接到使用者的左腿的左电动机和附接到用户的右腿的右电动机，以响应于驱动信号驱动左右电动机来支持用户的行走。

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