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1. 发明申请

US20070272463A1 Omni-directional robot cleaner 有权
标题翻译：全方位机器人清洁剂
公开(公告)号：US20070272463A1
公开(公告)日：2007-11-29
申请号：US11524478
申请日：2006-09-21
申请人： Hung-Hsiu Yu , Shou-Ren Chen , Yu-Lun Ho , Wei-Han Wang , Fang Chang
发明人： Hung-Hsiu Yu , Shou-Ren Chen , Yu-Lun Ho , Wei-Han Wang , Fang Chang
IPC分类号： B60T7/16
CPC分类号： B60T7/22
摘要： An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a-cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same. Moreover, each driving unit of the plural driving units is comprised of an omni-directional wheel and an actuator for driving the corresponding omni-directional wheel to rotate omni-directionally, by which the platform is enabled to move continuously while changing its moving direction simultaneously so as to free the robotic cleaner from the shortcomings of those conventional autonomous cleaner, such as poor maneuverability, poor mobility and insufficient degree-of-freedom regarding to the driving of the cleaner. Therefore, not only the operation mobility of the robotic cleaner is enhanced, but also the moving agility of the same is greatly improved.
摘要翻译：一种全方位机器人清洁器，由平台和用于驱动和控制平台的运动的多个驱动单元组成，其中平台还包括：用于障碍物检测的感测单元; 清洁单元，用于收集和清除灰尘和污垢; 处理单元，其能够相应地规划和映射行进路径，从而接收从感测单元发送的信号; 以及用于向全方位机器人清洁器提供电力的电力单元，同时管理它。此外，多个驱动单元的每个驱动单元包括全方向轮和用于驱动相应的全向轮的致动器，以便全方位旋转，通过该致动器，平台能够同时改变其移动方向而连续移动从而使机器人清洁器免于那些常规自动清洁器的缺点，例如机动性差，移动性差，并且对于清洁器的驱动而言的自由度不足。因此，不仅机器人清洁器的操作流动性增强，而且移动敏捷性大大提高。

2. 发明授权

US07568536B2 Omni-directional robot cleaner 有权
标题翻译：全方位机器人清洁剂
公开(公告)号：US07568536B2
公开(公告)日：2009-08-04
申请号：US11524478
申请日：2006-09-21
申请人： Hung-Hsiu Yu , Shou-Ren Chen , Yu-Lun Ho , Wei-Han Wang , Fang Chang
发明人： Hung-Hsiu Yu , Shou-Ren Chen , Yu-Lun Ho , Wei-Han Wang , Fang Chang
IPC分类号： B62D6/00
CPC分类号： B60T7/22
摘要： An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same. Moreover, each driving unit of the plural driving units is comprised of an omni-directional wheel and an actuator for driving the corresponding omni-directional wheel to rotate omni-directionally, by which the platform is enabled to move continuously while changing its moving direction simultaneously so as to free the robotic cleaner from the shortcomings of those conventional autonomous cleaner, such as poor maneuverability, poor mobility and insufficient degree-of-freedom regarding to the driving of the cleaner. Therefore, not only the operation mobility of the robotic cleaner is enhanced, but also the moving agility of the same is greatly improved.
摘要翻译：一种全方位机器人清洁器，由平台和用于驱动和控制平台的运动的多个驱动单元组成，其中平台还包括：用于障碍物检测的感测单元; 清洁单元，用于收集和除去灰尘和污垢; 处理单元，其能够相应地规划和映射行进路径，从而接收从感测单元发送的信号; 以及用于向全方位机器人清洁器提供电力的电力单元，同时管理它。此外，多个驱动单元的每个驱动单元包括全方向轮和用于驱动相应的全向轮的致动器，以便全方位旋转，通过该致动器，平台能够同时改变其移动方向而连续移动从而使机器人清洁器免于那些常规自动清洁器的缺点，例如机动性差，移动性差，并且对于清洁器的驱动而言的自由度不足。因此，不仅机器人清洁器的操作流动性增强，而且移动敏捷性大大提高。

3. 发明授权

US07643906B2 Obstacle and cliff avoiding system and method thereof 有权
标题翻译：障碍物和悬崖避免系统及其方法
公开(公告)号：US07643906B2
公开(公告)日：2010-01-05
申请号：US11517305
申请日：2006-09-08
申请人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
发明人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
IPC分类号： B60R25/04 , B60R25/06
CPC分类号： G01C1/00
摘要： An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.
摘要翻译：公开了一种障碍物和悬崖系统，其基本上是具有布置在其上的至少一个位移传感器的可移动底盘。在优选实施例中，每个位移传感器相对于由此检测到的表面倾斜特定的角度，同时被旋转装置驱动成圆周移动，以使其能够扫描限定的扇形区域或周围的圆形区域底盘循环。当每个位移传感器倾斜特定角度并开始发出工作信号时，每个传感器的信号发射和接收的路径由特定角度定义，而由传感器接收的反射工作信号被发送到控制器单元与工作信号进行比较，使得控制单元能够评估可移动底盘的移动方向前方是否存在障碍物或落下，从而控制底盘围绕障碍物或液滴进行操纵。

4. 发明申请

US20070265740A1 Obstacle and cliff avoiding system and method thereof 有权
标题翻译：障碍物和悬崖避免系统及其方法
公开(公告)号：US20070265740A1
公开(公告)日：2007-11-15
申请号：US11517305
申请日：2006-09-08
申请人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
发明人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
IPC分类号： G01C22/00
CPC分类号： G01C1/00
摘要： An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.
摘要翻译：公开了一种障碍物和悬崖系统，其基本上是具有布置在其上的至少一个位移传感器的可移动底盘。在优选实施例中，每个位移传感器相对于由此检测到的表面倾斜特定的角度，同时被旋转装置驱动成圆周移动，以使其能够扫描限定的扇形区域或周围的圆形区域底盘循环。当每个位移传感器倾斜特定角度并开始发出工作信号时，每个传感器的信号发射和接收的路径由特定角度定义，而由传感器接收的反射工作信号被发送到控制器单元与工作信号进行比较，使得控制单元能够评估可移动底盘的移动方向前方是否存在障碍物或落下，从而控制底盘围绕障碍物或液滴进行操纵。

5. 发明授权

US08315552B2 Body interactively learning method and apparatus 有权
标题翻译：身体交互式学习方法和装置
公开(公告)号：US08315552B2
公开(公告)日：2012-11-20
申请号：US12032272
申请日：2008-02-15
申请人： Hung-Hsiu Yu , Ching-Yi Liu , Wei-Han Wang , Chiu-Sheng Tseng
发明人： Hung-Hsiu Yu , Ching-Yi Liu , Wei-Han Wang , Chiu-Sheng Tseng
IPC分类号： G09B5/04
CPC分类号： G09B7/02 , G09B15/00
摘要： A body interactively learning method is disclosed, which comprises the steps of: turning on the power of a body interactively learning apparatus while selecting an operation mode for the same; attaching a motion sensor of the body interactively learning apparatus onto body of a user; using the motion sensor to detect vibrations of the body and consequently sending the detected vibration signals to a processing unit; enabling the processing unit to perform an evaluation for determining whether the vibration signals are valid. With the aforesaid method and apparatus, the user is able to use the valid vibration signals to control a proceeding of an audio/video content that is stored in a data storage unit of the apparatus selected from the group consisting of: playing the audio/video content, pausing the playing of the audio/video content, recording the audio/video content, setting pause points in the audio/video content, searching the pause point of the audio/video content, and changing playing speed of the audio/video content, and responding interactively to the audio/video content. In an exemplary embodiment, the user can either stop the playing of the audio/video content by pressing a stop button of the apparatus or by moving his/her body to generate a specific vibration signal.
摘要翻译：公开了一种身体交互式学习方法，包括以下步骤：在选择其操作模式的同时接通身体交互式学习装置的功率; 将身体交互式学习装置的运动传感器附接到用户的身体上; 使用运动传感器来检测身体的振动，并且因此将检测到的振动信号发送到处理单元; 使得处理单元执行用于确定振动信号是否有效的评估。利用上述方法和装置，用户能够使用有效振动信号来控制存储在从包括以下各项组成的组中选择的装置的数据存储单元中的音频/视频内容的进行：播放音频/视频内容，暂停播放音频/视频内容，记录音频/视频内容，设置音频/视频内容中的暂停点，搜索音频/视频内容的暂停点，以及改变音频/视频内容的播放速度并且与音频/视频内容交互地进行响应。在示例性实施例中，用户可以通过按下设备的停止按钮或通过移动他/她的身体以产生特定的振动信号来停止音频/视频内容的播放。

6. 发明申请

US20080134801A1 TACTILE SENSING DEVICE FOR HUMAN ROBOT INTERACTION AND METHOD THEREOF 审中-公开
标题翻译：用于人机交互的触觉感测装置及其方法
公开(公告)号：US20080134801A1
公开(公告)日：2008-06-12
申请号：US11617733
申请日：2006-12-29
申请人： Kuo-Shih Tseng , Chiu-Wang Chen , Yi-Ming Chu , Wei-Han Wang , Hung-Hsiu Yu
发明人： Kuo-Shih Tseng , Chiu-Wang Chen , Yi-Ming Chu , Wei-Han Wang , Hung-Hsiu Yu
IPC分类号： G01D7/00
CPC分类号： B25J13/02
摘要： A tactile sensing for human robot interaction device and a method thereof are provided. The tactile sensing device at least includes a touch interface, a tactile sensor module, a controller, and an actuating unit. The tactile sensor module coupled to the touch interface is used to sense an external touch, so as to generate a series of timing data corresponding to the external touch. The controller coupled to the tactile sensor module is used to receive the series of timing data, and to determine a touch pattern based on a geometric calculation, so as to generate a control signal. The actuating unit coupled to the controller responses an interactive reaction corresponding to the touch pattern based on the control signal.
摘要翻译：提供了一种人机交互装置的触觉感知及其方法。触觉感测装置至少包括触摸界面，触觉传感器模块，控制器和致动单元。耦合到触摸界面的触敏传感器模块用于感测外部触摸，以便产生对应于外部触摸的一系列定时数据。耦合到触觉传感器模块的控制器用于接收一系列定时数据，并且基于几何计算来确定触摸模式，以便产生控制信号。耦合到控制器的致动单元基于控制信号响应对应于触摸图案的交互反应。

7. 发明申请

US20110123135A1 METHOD AND DEVICE OF MAPPING AND LOCALIZATION METHOD USING THE SAME 有权
标题翻译：使用该方法和本地化方法的方法和装置
公开(公告)号：US20110123135A1
公开(公告)日：2011-05-26
申请号：US12699900
申请日：2010-02-04
申请人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
IPC分类号： G06K9/36 , G01C3/08
CPC分类号： G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
摘要： A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
摘要翻译：提供了一种映射方法。扫描环境以获得环境障碍物的深度信息。拍摄环境的图像以生成图像平面。将环境障碍物的深度信息投影到图像平面上，以获得投影位置。从每个投影位置周围的预定范围计算至少一个特征向量。合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。组合所有时间点的子地图，生成地图。此外，还提供了使用该图的定位方法。

8. 发明授权

US08588471B2 Method and device of mapping and localization method using the same 有权
标题翻译：使用该方法和设备的映射和定位方法
公开(公告)号：US08588471B2
公开(公告)日：2013-11-19
申请号：US12699900
申请日：2010-02-04
申请人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
IPC分类号： G06K9/00 , G06K9/36
CPC分类号： G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
摘要： A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
摘要翻译：提供了一种映射方法。扫描环境以获得环境障碍物的深度信息。拍摄环境的图像以生成图像平面。将环境障碍物的深度信息投影到图像平面上，以获得投影位置。从每个投影位置周围的预定范围计算至少一个特征向量。合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。组合所有时间点的子地图以生成地图。此外，还提供了使用该图的定位方法。

9. 发明授权

US07444215B2 Moving apparatus and method of self-direction testing and self-direction correction thereof 有权
标题翻译：自动检测方法及其自身校正方法
公开(公告)号：US07444215B2
公开(公告)日：2008-10-28
申请号：US11757414
申请日：2007-06-04
申请人： Hsuan-Kuan Huang , Hung-Hsiu Yu , Wei-Han Wang , Ching-Yi Liu
发明人： Hsuan-Kuan Huang , Hung-Hsiu Yu , Wei-Han Wang , Ching-Yi Liu
IPC分类号： G01C22/00
CPC分类号： G01C21/005 , G05D1/027 , G05D1/0272
摘要： A moving apparatus has a body, and has at least a pair of wheels, a control unit, a direction measuring unit and at least a pair of encoders installed on the body. The direction measuring unit coupled to the control unit measures the direction of the body, and the control unit obtains a first direction variation according to the direction information. The pair of encoders coupled to the control unit measure a speed of the pair of wheels, and the control unit obtains a second direction variation according to information of the speed. The control unit compares the first and second direction variations to determine whether the direction measuring unit is temporarily dysfunction. Based on the result of comparison, the control unit applies the information provided by the direction measuring unit or the pair of encoders to obtain the current direction of the body.
摘要翻译：移动装置具有主体，并且至少具有一对轮子，控制单元，方向测量单元和安装在身体上的至少一对编码器。耦合到控制单元的方向测量单元测量身体的方向，并且控制单元根据方向信息获得第一方向变化。耦合到所述控制单元的所述编码器测量所述一对车轮的速度，并且所述控制单元根据所述速度的信息获得第二方向变化。控制单元比较第一和第二方向变化以确定方向测量单元是否暂时失效。基于比较的结果，控制单元应用由方向测量单元或一对编码器提供的信息以获得身体的当前方向。

10. 发明申请

US20080172150A1 MOVING APPARATUS AND METHOD OF SELF-DIRECTION TESTING AND SELF-DIRECTION CORRECTION THEREOF 有权
标题翻译：移动装置及其自对准测试方法及其自对准校正
公开(公告)号：US20080172150A1
公开(公告)日：2008-07-17
申请号：US11757414
申请日：2007-06-04
申请人： Hsuan-Kuan Huang , Hung-Hsiu Yu , Wei-Han Wang , Ching-Yi Liu
发明人： Hsuan-Kuan Huang , Hung-Hsiu Yu , Wei-Han Wang , Ching-Yi Liu
IPC分类号： G01C19/36
CPC分类号： G01C21/005 , G05D1/027 , G05D1/0272
摘要： A moving apparatus has a body, and has at least a pair of wheels, a control unit, a direction measuring unit and at least a pair of encoders installed on the body. The direction measuring unit coupled to the control unit measures the direction of the body, and the control unit obtains a first direction variation according to the direction information. The pair of encoders coupled to the control unit measure a speed of the pair of wheels, and the control unit obtains a second direction variation according to information of the speed. The control unit compares the first and second direction variations to determine whether the direction measuring unit is temporarily dysfunction. Based on the result of comparison, the control unit applies the information provided by the direction measuring unit or the pair of encoders to obtain the current direction of the body.
摘要翻译：移动装置具有主体，并且至少具有一对轮子，控制单元，方向测量单元和安装在身体上的至少一对编码器。耦合到控制单元的方向测量单元测量身体的方向，并且控制单元根据方向信息获得第一方向变化。耦合到所述控制单元的所述编码器测量所述一对车轮的速度，并且所述控制单元根据所述速度的信息获得第二方向变化。控制单元比较第一和第二方向变化以确定方向测量单元是否暂时失效。基于比较的结果，控制单元应用由方向测量单元或一对编码器提供的信息以获得身体的当前方向。

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