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1. 发明授权

US08390792B2 Distance measuring device 有权
标题翻译：距离测量装置
公开(公告)号：US08390792B2
公开(公告)日：2013-03-05
申请号：US12649539
申请日：2009-12-30
申请人： Bi-Jung Rung , Yi-Chih Yeh , Li-Lu Chen , Yung-Shen Lee
发明人： Bi-Jung Rung , Yi-Chih Yeh , Li-Lu Chen , Yung-Shen Lee
IPC分类号： G01C3/08
CPC分类号： G01S7/4817 , G01S7/4972
摘要： A distance measuring device is provided. The distance measuring device includes: a distance sensing unit, for sensing a distance value of a target object; a drive unit, for driving the distance sensing unit to rotate according to a rotation angle; and a compensation unit, for providing a compensation value according to the rotation angle and obtaining an actual distance according to the compensation value and the distance value.
摘要翻译：提供测距装置。距离测量装置包括：距离感测单元，用于感测目标物体的距离值; 驱动单元，用于驱动距离感测单元根据旋转角度旋转; 以及补偿单元，用于根据旋转角度提供补偿值，并根据补偿值和距离值获得实际距离。

2. 发明授权

US08301305B2 Moving devices and controlling methods therefor 有权
标题翻译：移动设备及其控制方法
公开(公告)号：US08301305B2
公开(公告)日：2012-10-30
申请号：US12728803
申请日：2010-03-22
申请人： Chuan-Ching Tsao , Yung-Shen Lee , Shih-Chieh Chou , Hong Lun Liu
发明人： Chuan-Ching Tsao , Yung-Shen Lee , Shih-Chieh Chou , Hong Lun Liu
IPC分类号： B08B7/04 , G05B19/18 , G05B19/042
CPC分类号： G05D1/0242 , G05D1/0225 , Y10T483/132
摘要： A moving device is provided. A first receiving device receives an emitted light from a base station and obtains a direction from a start position, which the moving device is in to the base station according to the emitted light to serve as a target direction. A driving device drives the moving device to move in the target direction from the start position. When the moving device meets a first obstacle which is disposed along the target direction and in the target area, a second receiving device obtains a distance between the moving device and the base station according to the received emitted light to serve as a middle distance. When a determination device determines that the middle distance is not equal to a predetermined distance, the driving device drives the moving device to detour around the first obstacle and move in the target direction continuously.
摘要翻译：提供移动装置。第一接收装置从基站接收发射的光，并根据发射的光获取从起始位置到移动装置到基站的方向，以作为目标方向。驱动装置驱动移动装置从目标方向从起始位置移动。当移动装置遇到沿着目标方向和目标区域设置的第一障碍物时，第二接收装置根据所接收的发射光获得移动装置与基站之间的距离，作为中间距离。当确定装置确定中间距离不等于预定距离时，驱动装置驱动移动装置围绕第一障碍物绕行，并且在目标方向上连续移动。

3. 发明申请

US20110130874A1 MOVING DEVICES AND CONTROLLING METHODS THEREFOR 有权
标题翻译：移动设备及其控制方法
公开(公告)号：US20110130874A1
公开(公告)日：2011-06-02
申请号：US12728803
申请日：2010-03-22
申请人： Chuan-Ching Tsao , Yung-Shen Lee , Shih-Chieh Chou , Hong Lun Liu
发明人： Chuan-Ching Tsao , Yung-Shen Lee , Shih-Chieh Chou , Hong Lun Liu
IPC分类号： G06F19/00
CPC分类号： G05D1/0242 , G05D1/0225 , Y10T483/132
摘要： A moving device is provided. A first receiving device receives an emitted light from a base station and obtains a direction from a start position, which the moving device is in to the base station according to the emitted light to serve as a target direction. A driving device drives the moving device to move in the target direction from the start position. When the moving device meets a first obstacle which is disposed along the target direction and in the target area, a second receiving device obtains a distance between the moving device and the base station according to the received emitted light to serve as a middle distance. When a determination device determines that the middle distance is not equal to a predetermined distance, the driving device drives the moving device to detour around the first obstacle and move in the target direction continuously.
摘要翻译：提供移动装置。第一接收装置从基站接收发射的光，并根据发射的光获取从起始位置到移动装置到基站的方向，以作为目标方向。驱动装置驱动移动装置从目标方向从起始位置移动。当移动装置遇到沿着目标方向和目标区域设置的第一障碍物时，第二接收装置根据所接收的发射光获得移动装置与基站之间的距离，作为中间距离。当确定装置确定中间距离不等于预定距离时，驱动装置驱动移动装置围绕第一障碍物绕行，并且在目标方向上连续移动。

4. 发明申请

US20100217442A1 DEVICE AND METHOD FOR CONTROLLING MULTIAXIAL JOINT UNIT 审中-公开
标题翻译：用于控制多轴联合装置的装置和方法
公开(公告)号：US20100217442A1
公开(公告)日：2010-08-26
申请号：US12536796
申请日：2009-08-06
申请人： YUNG-SHEN LEE
发明人： YUNG-SHEN LEE
IPC分类号： G05B19/42
CPC分类号： B25J9/1664 , G05B2219/36266 , G05B2219/40435 , G05B2219/40446
摘要： A device is provided for controlling multiaxial joint unit. The device includes a multiaxial joint unit, an estimating module, a path determining module, a path editing module. The multiaxial joint unit is to perform at least an action. The estimating module estimates parameter changes of the multiaxial joint unit while performing the action. The path determining module determines a work path according to the parameter changes. The path editing module determines multiple turning points of the work path and determines a simplified path according to the turning points, thereby controlling the multiaxial joint unit so that it moves according to the simplified path and performs the action repeatedly. A method for controlling the multiaxial joint unit is further provided.
摘要翻译：提供一种用于控制多轴接头单元的装置。该装置包括多轴关节单元，估计模块，路径确定模块，路径编辑模块。多轴接头单元至少要执行一个动作。估计模块在执行动作时估计多轴关节单元的参数变化。路径确定模块根据参数变化确定工作路径。路径编辑模块确定工作路径的多个转折点，并根据转折点确定简化路径，从而控制多轴关节单元，使其根据简化路径移动，并重复执行动作。还提供了一种用于控制多轴接头单元的方法。

5. 发明申请

US20100125343A1 Complex Servo Control System 审中-公开
标题翻译：复杂的伺服控制系统
公开(公告)号：US20100125343A1
公开(公告)日：2010-05-20
申请号：US12399169
申请日：2009-03-06
申请人： Shih Che Hung , Yung Shen Lee
发明人： Shih Che Hung , Yung Shen Lee
IPC分类号： G05B19/02
CPC分类号： G08C19/00
摘要： A complex servo control system includes a host control end, a servo master controller, and a plurality of servo streams. The host control end sends control commands, and the servo master controller receives the control commands to generate corresponding control signals. Each control signal includes an identification code and a setting value. The servo streams are electrically connected to the servo master controller in parallel. Each of the servo streams includes a plurality of servos and each of the servos has a given an identification code. The servo master controller sends the control signals to one of the servo streams according to the identification code carried by the control signals, and the control signals are then received and sent downwards in sequence by the servos of the servo stream. When the identification code carried by control signals match the given identification code of one of the servo, the servo having the identification code activates according the setting value.
摘要翻译：复杂的伺服控制系统包括主机控制端，伺服主控制器和多个伺服流。主机控制端发送控制命令，伺服主控制器接收控制命令，产生相应的控制信号。每个控制信号包括识别码和设定值。伺服流并行电连接到伺服主控制器。每个伺服流包括多个伺服，并且每个伺服具有给定的识别码。伺服主控制器根据控制信号携带的识别码将控制信号发送到伺服流中的一个，然后由伺服流的伺服顺序接收并发送控制信号。当由控制信号携带的识别码与伺服中的一个的给定识别码相匹配时，具有识别码的伺服器根据设定值激活。

6. 发明申请

US20110085153A1 DISTANCE MEASURING DEVICE 有权
标题翻译：距离测量装置
公开(公告)号：US20110085153A1
公开(公告)日：2011-04-14
申请号：US12649539
申请日：2009-12-30
申请人： Bi-Jung RUNG , Yi-Chih YEH , Li-Lu CHEN , Yung-Shen LEE
发明人： Bi-Jung RUNG , Yi-Chih YEH , Li-Lu CHEN , Yung-Shen LEE
IPC分类号： G01C3/08
CPC分类号： G01S7/4817 , G01S7/4972
摘要： A distance measuring device is provided. The distance measuring device includes: a distance sensing unit, for sensing a distance value of a target object; a drive unit, for driving the distance sensing unit to rotate according to a rotation angle; and a compensation unit, for providing a compensation value according to the rotation angle and obtaining an actual distance according to the compensation value and the distance value.
摘要翻译：提供测距装置。距离测量装置包括：距离感测单元，用于感测目标物体的距离值; 驱动单元，用于驱动距离感测单元根据旋转角度旋转; 以及补偿单元，用于根据旋转角度提供补偿值，并根据补偿值和距离值获得实际距离。

7. 发明申请

US20100026230A1 Calibration Method for Servo 有权
标题翻译：伺服校准方法
公开(公告)号：US20100026230A1
公开(公告)日：2010-02-04
申请号：US12360121
申请日：2009-01-27
申请人： Yung-Shen Lee , Shih-Che Hung
发明人： Yung-Shen Lee , Shih-Che Hung
IPC分类号： G05G5/04
CPC分类号： G05B19/19 , G05B2219/41099
摘要： A calibration method for servo is provided, wherein a motor of the servo is activated at a low-speed mode to drive a moved member of the servo moving to a first limit position and a second limit positions. During the movement of the moved member, a motor control power of the motor is monitored continuously to determine whether the motor control power exceeds a threshold value. When the moved member reaches the first or the second limit position, the motor control power is raised to exceed the threshold value and a motor coordinate value corresponding to the first or second limit position is determined simultaneously. Finally, a conservation relation for determining the actual coordinate by the motor value can be derived according to the values of actual coordinate of the first and second limit positions, and the values of the corresponding motor coordinate.
摘要翻译：提供了一种用于伺服的校准方法，其中伺服的电动机以低速模式被激活，以驱动伺服移动的移动部件移动到第一极限位置和第二极限位置。在移动构件的移动期间，连续地监测电动机的电动机控制功率，以确定电动机控制功率是否超过阈值。当移动部件达到第一或第二极限位置时，马达控制功率升高到超过阈值，同时确定与第一或第二极限位置对应的马达坐标值。最后，可以根据第一和第二极限位置的实际坐标值和相应的电动机坐标的值，得出用于通过电动机值确定实际坐标的守恒关系。

8. 发明授权

US08442683B2 Cleaning robot and control method thereof 有权
标题翻译：清洁机器人及其控制方法
公开(公告)号：US08442683B2
公开(公告)日：2013-05-14
申请号：US13109216
申请日：2011-05-17
申请人： Yung-Shen Lee , Shui-Shih Chen
发明人： Yung-Shen Lee , Shui-Shih Chen
IPC分类号： G05B15/00 , G05B19/04 , A47L5/00 , A47L11/00
CPC分类号： G05D1/0255 , A47L2201/04 , G05D2201/0203
摘要： A cleaning robot including a roller unit, a sensing unit, a first control unit and a second control unit is disclosed. The roller unit includes a plurality of rollers. The sensing unit receives a reflection signal and generates a detection signal according to the reflection signal. When the detection signal is less than or equal to a reference signal, the first control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a first distance. When the detection signal is larger than the reference signal, the second control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a second distance larger then the first distance.
摘要翻译：公开了一种包括辊单元，感测单元，第一控制单元和第二控制单元的清洁机器人。辊单元包括多个辊。感测单元接收反射信号并根据反射信号产生检测信号。当检测信号小于或等于参考信号时，第一控制单元根据检测信号控制滚筒的行进方向，使得清洁机器人与墙壁之间的距离等于第一距离。当所述检测信号大于所述参考信号时，所述第二控制单元根据所述检测信号来控制所述滚筒的行进方向，使得所述清洁机器人与所述壁之间的距离等于距所述第一距离大的第二距离。

9. 发明申请

US20120197437A1 CLEANING ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：清洁机器人及其控制方法
公开(公告)号：US20120197437A1
公开(公告)日：2012-08-02
申请号：US13109216
申请日：2011-05-17
申请人： Yung-Shen Lee , Shui-Shih Chen
发明人： Yung-Shen Lee , Shui-Shih Chen
IPC分类号： G06F7/00
CPC分类号： G05D1/0255 , A47L2201/04 , G05D2201/0203
摘要： A cleaning robot including a roller unit, a sensing unit, a first control unit and a second control unit is disclosed. The roller unit includes a plurality of rollers. The sensing unit receives a reflection signal and generates a detection signal according to the reflection signal. When the detection signal is less than or equal to a reference signal, the first control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a first distance. When the detection signal is larger than the reference signal, the second control unit controls the traveling direction of the rollers according to the detection signal such that a distance between the cleaning robot and a wall is equal to a second distance larger then the first distance.
摘要翻译：公开了一种包括辊单元，感测单元，第一控制单元和第二控制单元的清洁机器人。辊单元包括多个辊。感测单元接收反射信号并根据反射信号产生检测信号。当检测信号小于或等于参考信号时，第一控制单元根据检测信号控制滚筒的行进方向，使得清洁机器人与墙壁之间的距离等于第一距离。当所述检测信号大于所述参考信号时，所述第二控制单元根据所述检测信号来控制所述滚筒的行进方向，使得所述清洁机器人与所述壁之间的距离等于距所述第一距离大的第二距离。

10. 发明授权

US08054029B2 Calibration method for servo 有权
标题翻译：伺服校准方法
公开(公告)号：US08054029B2
公开(公告)日：2011-11-08
申请号：US12360121
申请日：2009-01-27
申请人： Yung-Shen Lee , Shih-Che Hung
发明人： Yung-Shen Lee , Shih-Che Hung
IPC分类号： G05B1/06
CPC分类号： G05B19/19 , G05B2219/41099
摘要： A calibration method for servo is provided, wherein a motor of the servo is activated at a low-speed mode to drive a moved member of the servo moving to a first limit position and a second limit positions. During the movement of the moved member, a motor control power of the motor is monitored continuously to determine whether the motor control power exceeds a threshold value. When the moved member reaches the first or the second limit position, the motor control power is raised to exceed the threshold value and a motor coordinate value corresponding to the first or second limit position is determined simultaneously. Finally, a conservation relation for determining the actual coordinate by the motor value can be derived according to the values of actual coordinate of the first and second limit positions, and the values of the corresponding motor coordinate.
摘要翻译：提供了一种用于伺服的校准方法，其中伺服的电动机以低速模式被激活，以驱动伺服移动的移动部件移动到第一极限位置和第二极限位置。在移动构件的移动期间，连续地监测电动机的电动机控制功率，以确定电动机控制功率是否超过阈值。当移动部件达到第一或第二极限位置时，马达控制功率升高到超过阈值，同时确定与第一或第二极限位置对应的马达坐标值。最后，可以根据第一和第二极限位置的实际坐标值和相应的电动机坐标的值，得出用于通过电动机值确定实际坐标的守恒关系。

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