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1. 发明授权

US08801057B2 Bumper structure of cleaning robot 有权
标题翻译：清洁机器人的保险杠结构
公开(公告)号：US08801057B2
公开(公告)日：2014-08-12
申请号：US13317412
申请日：2011-10-18
申请人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum Yong Park , Kyung Shik Roh , Young Do Kwon
发明人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum Yong Park , Kyung Shik Roh , Young Do Kwon
IPC分类号： B60R19/00 , B60R21/0136
CPC分类号： B60R21/0136 , A47L9/009 , A47L9/2805 , A47L2201/04 , G01D5/165
摘要： A bumper structure of a cleaning robot which detects whether or not an obstacle contacts a bumper and a position of the obstacle, allows the bumper to be simply process and reduces the number of components of the cleaning robot to lower the production costs of the cleaning robot. The bumper structure includes a main body, a bumper installed on the front surface of the main body, a resistance film provided between the main body and the bumper and fixed to the main body, and a metal film provided between the main body and the bumper and fixed to the bumper such that the shape of the metal film is deformed together with the bumper and the metal film comes into contact with the resistance film when at least one obstacle contacts the bumper, so as to measure resistance values.
摘要翻译：清洁机器人的保险杠结构，其检测障碍物是否碰到保险杠和障碍物的位置，允许缓冲器简单地处理并减少清洁机器人的部件数量，以降低清洁机器人的生产成本。保险杠结构包括主体，安装在主体前表面上的保险杠，设置在主体和保险杠之间并固定在主体上的电阻膜，以及设置在主体和保险杠之间的金属膜并且当至少一个障碍物接触保险杠时，金属膜的形状与保险杠一起变形并且金属膜与电阻膜接触，以便测量电阻值，并且固定到保险杠。

2. 发明授权

US09101324B2 Vital sign measurement robot and control method thereof 有权
标题翻译：生命体征测量机器人及其控制方法
公开(公告)号：US09101324B2
公开(公告)日：2015-08-11
申请号：US13296355
申请日：2011-11-15
申请人： Heum Yong Park , Yong Jae Kim , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Young Do Kwon
发明人： Heum Yong Park , Yong Jae Kim , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Young Do Kwon
IPC分类号： A61B5/04 , A61B5/00
CPC分类号： A61B5/4887 , A61B5/04 , A61B5/6835 , A61B5/6843 , A61B5/6844 , A61B5/6887
摘要： A vital sign measurement robot which automatically measures vital signs, and a control method thereof. The vital sign measurement robot includes an input unit to receive vital sign measurement instructions, an image recognition unit to detect a distance between the robot and a person, vital signs of whom are to be measured, and a measurement portion of the body of the person, when the vital sign measurement instructions are received, a control unit to move electrodes provided on hands so as to locate the electrodes at the measurement portion of the body of the person, when the distance between the robot and the person and the measurement portion of the body of the person are detected, and a vital sign measurement unit to measure a vital sign, when the electrodes are located at the measurement portion of the body of the person.
摘要翻译：一种自动测量生命体征的生命体征测量机器人及其控制方法。生物体征测量机器人包括用于接收生命体征测量指令的输入单元，用于检测机器人与人之间的距离的图像识别单元，要测量的人的生命体征以及人体的测量部分当接收到生物体征测量指令时，控制单元移动设置在手上的电极，以便当机器人与人的距离与测量部分之间的位置时，将电极定位在人体的测量部分检测人的身体，以及当电极位于人的身体的测量部分时，测量生命体征的生命体征测量单元。

3. 发明申请

US20120126837A1 Bumper structure of cleaning robot 有权
标题翻译：清洁机器人的保险杠结构
公开(公告)号：US20120126837A1
公开(公告)日：2012-05-24
申请号：US13317412
申请日：2011-10-18
申请人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum yong Park , Kyung Shik Roh , Young Do Kwon
发明人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum yong Park , Kyung Shik Roh , Young Do Kwon
IPC分类号： G01R27/08
CPC分类号： B60R21/0136 , A47L9/009 , A47L9/2805 , A47L2201/04 , G01D5/165
摘要： A bumper structure of a cleaning robot which detects whether or not an obstacle contacts a bumper and a position of the obstacle, allows the bumper to be simply process and reduces the number of components of the cleaning robot to lower the production costs of the cleaning robot. The bumper structure includes a main body, a bumper installed on the front surface of the main body, a resistance film provided between the main body and the bumper and fixed to the main body, and a metal film provided between the main body and the bumper and fixed to the bumper such that the shape of the metal film is deformed together with the bumper and the metal film comes into contact with the resistance film when at least one obstacle contacts the bumper, so as to measure resistance values.
摘要翻译：清洁机器人的保险杠结构，其检测障碍物是否碰到保险杠和障碍物的位置，允许缓冲器简单地处理并减少清洁机器人的部件数量，以降低清洁机器人的生产成本。保险杠结构包括主体，安装在主体前表面上的保险杠，设置在主体和保险杠之间并固定在主体上的电阻膜，以及设置在主体和保险杠之间的金属膜并且当至少一个障碍物接触保险杠时，金属膜的形状与保险杠一起变形并且金属膜与电阻膜接触，以便测量电阻值，并且固定到保险杠。

4. 发明申请

US20090092442A1 COMPLIANT JOINT 有权
标题翻译：合作伙伴
公开(公告)号：US20090092442A1
公开(公告)日：2009-04-09
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
发明人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： F16C11/12
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

5. 发明授权

US08021071B2 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US08021071B2
公开(公告)日：2011-09-20
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
IPC分类号： F16D7/00
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

6. 发明申请

US20120123589A1 CONTROL OF ROBOT HAND TO CONTACT AN OBJECT 有权
标题翻译：机器人的控制手机接触对象
公开(公告)号：US20120123589A1
公开(公告)日：2012-05-17
申请号：US13275856
申请日：2011-10-18
申请人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
发明人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
IPC分类号： B25J13/08
CPC分类号： B25J9/1612 , B25J13/084 , G05B2219/39484 , G05B2219/39532
摘要： A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
摘要翻译：机器人控制方法和装置基于使用安装在机器人手上的电动机驱动电流传感器，力传感器或触觉传感器获得的对象的信息和使用光学传感器获得的对象的信息来估计误差，并补偿错误。机器人控制方法和装置包括使用光学传感器测量对象的信息或计算用户输入的对象的信息，基于对象的信息将机器人手移动到对象，控制机器人的拇指和手指根据物体的信息接触物体，确定拇指和手指是否通过马达驱动电流传感器，力传感器或触觉传感器接触物体，并且根据拇指和手指来抓住物体已经联系对象。

7. 发明授权

US09333648B2 Control of robot hand to contact an object 有权
标题翻译：控制机器人手接触物体
公开(公告)号：US09333648B2
公开(公告)日：2016-05-10
申请号：US13275856
申请日：2011-10-18
申请人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
发明人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
IPC分类号： B25J13/08 , B25J9/16
CPC分类号： B25J9/1612 , B25J13/084 , G05B2219/39484 , G05B2219/39532
摘要： A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
摘要翻译：机器人控制方法和装置基于使用安装在机器人手的电动机驱动电流传感器，力传感器或触觉传感器获得的对象的信息以及使用光学传感器获得的对象的信息来估计误差，并补偿错误。机器人控制方法和装置包括使用光学传感器测量对象的信息或计算用户输入的对象的信息，基于对象的信息将机器人手移动到对象，控制机器人的拇指和手指根据物体的信息接触物体，确定拇指和手指是否通过马达驱动电流传感器，力传感器或触觉传感器接触物体，并且根据拇指和手指来抓住物体已经联系对象。

8. 发明授权

US09104207B2 Walking robot and control method thereof 有权
标题翻译：步行机器人及其控制方法
公开(公告)号：US09104207B2
公开(公告)日：2015-08-11
申请号：US13308842
申请日：2011-12-01
申请人： Joo Hyung Kim , Kee Hong Seo , Kyung Shik Roh , Jae Ho Park
发明人： Joo Hyung Kim , Kee Hong Seo , Kyung Shik Roh , Jae Ho Park
IPC分类号： G05B15/02 , G05D1/08 , B62D57/032
CPC分类号： G05D1/0891 , B62D57/032 , G05D2201/0217
摘要： A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate.
摘要翻译：一种步行机器人及其控制方法。使用两条腿行走的步行机器人的控制方法包括在步行期间将包括反重力方向的矢量分量的第一虚拟重力矩从两腿之间的支撑腿的各个接头施加，并施加第二虚拟重力矩，包括在步行期间从重力方向到两腿之间的摆动腿的各个关节的矢量分量。因此，步行机器人实现了具有低能量消耗率的自然步行动作。

9. 发明授权

US09058521B2 Mobile robot and simultaneous localization and map building method thereof 有权
标题翻译：移动机器人及其同时定位及其地图构建方法
公开(公告)号：US09058521B2
公开(公告)日：2015-06-16
申请号：US13218844
申请日：2011-08-26
申请人： Suk June Yoon , Kyung Shik Roh , Seung Yong Hyung , Hyo Seok Hwang , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Seung Yong Hyung , Hyo Seok Hwang , Sung Hwan Ahn
IPC分类号： G06K9/00 , G05D1/02 , G06T7/00
CPC分类号： G06K9/00664 , G05D1/0253 , G05D1/0274 , G05D2201/0207 , G06T7/77 , G06T2207/10016 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
摘要： A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.
摘要翻译：包括全向摄像机的移动机器人的同时定位和地图构建方法。该方法包括从全向摄像机获取全方位图像，根据预设参考将所获得的全方位图像划分为上下图像，以生成作为较低图像的第一图像和第二图像，其是上图像，从第一图像提取特征点并计算视觉测距信息，计算视觉测距信息，以基于全向相机的位置跟踪提取的特征点的位置，以及执行移动台的定位和地图构建机器人使用计算的视觉测距信息，第二个图像作为扩展卡尔曼滤波器的输入。

10. 发明授权

US08842908B2 Method of separating front view and background and apparatus 有权
标题翻译：分离前视图和背景和装置的方法
公开(公告)号：US08842908B2
公开(公告)日：2014-09-23
申请号：US13331529
申请日：2011-12-20
申请人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
发明人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/34 , G06T7/00
CPC分类号： G06T7/0081 , G06T7/11 , G06T7/194 , G06T2207/10024
摘要： A method of initially estimating a front view portion of a photographed image and separating the photographed image into a front view and a background without user interaction and apparatus performing the method are provided. The method of separating a front view and a background of an image includes dividing one or more pixels included in a photographed image into pixel groups according to color similarity between the pixels, estimating the position of the front view in the image divided into the pixel groups, and separating the front view and the background based on the estimated position of the front view. The method automatically separates the front view and the background of the image without a user input.
摘要翻译：提供了一种初始估计拍摄图像的前视图部分并将拍摄的图像分离成前视图和背景而不进行用户交互的方法以及执行该方法的装置。分离图像的正视图和背景的方法包括根据像素之间的颜色相似度将包括在拍摄图像中的一个或多个像素划分为像素组，估计分割成像素组的图像中的前视图的位置并且基于前视图的估计位置分离前视图和背景。该方法自动分离图像的前视图和背景，无需用户输入。

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