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1. 发明申请

US20090055020A1 Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot 有权
标题翻译：用于同时执行移动机器人地图清洁和创建的装置，方法和介质
公开(公告)号：US20090055020A1
公开(公告)日：2009-02-26
申请号：US12215400
申请日：2008-06-27
申请人： Woo-yeon Jeong , Su-Jin Lee , Hyeon Myeong , Seok-Won Bang
发明人： Woo-yeon Jeong , Su-Jin Lee , Hyeon Myeong , Seok-Won Bang
IPC分类号： G06F19/00 , G01C21/00
CPC分类号： G05D1/0246 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0276 , G05D2201/0203
摘要： Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information.
摘要翻译：提供了一种用于允许移动机器人同时执行清洁处理和地图创建处理的装置，方法和介质。该装置包括：特征图创建单元，其创建用于识别移动机器人的位置的特征图; 路径图创建单元，基于从所述特征图获得的所述移动机器人的姿态的信息，创建包括多个单元的路径图，每个单元具有关于是否存在障碍物的信息和路径信息; 以及基于关于障碍物是否存在的信息和路径信息来移动移动机器人的运动控制单元。

2. 发明授权

US08195331B2 Method, medium, and apparatus for performing path planning of mobile robot 有权
标题翻译：用于执行移动机器人的路径规划的方法，介质和装置
公开(公告)号：US08195331B2
公开(公告)日：2012-06-05
申请号：US12314088
申请日：2008-12-03
申请人： Hyeon Myeong , Seok-won Bang
发明人： Hyeon Myeong , Seok-won Bang
IPC分类号： G05B19/18
CPC分类号： G05D1/0274 , G05D2201/0203
摘要： A method, medium, and apparatus for performing path planning of a mobile robot is provided. The apparatus for performing path planning of a mobile robot includes a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided, and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit. The method of performing path planning of a mobile robot includes generating a coarse map composed of a plurality of cells, generating a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells, which neighbors the cell where an obstacle exists, is divided, generating a moving path whereby the mobile robot can pass a narrow passage by using the fine map, and updating the coarse map by reflecting the moving path.
摘要翻译：提供了一种用于执行移动机器人的路径规划的方法，介质和装置。用于执行移动机器人的路径规划的装置包括粗略地图生成单元，用于生成由多个单元组成的粗略地图; 精细图生成单元，生成由多个子单元中的至少一个单元划分成的多个子单元组成的精细图，以及路径生成单元，控制精细图生成单元，生成与该到通过粗略地图生成单元生成的粗略图中的指定位置。执行移动机器人的路径规划的方法包括生成由多个小区组成的粗略地图，生成由多个子小区组成的精细地图，多个小区中的至少一个小区邻近于该小区，存在障碍物，被分割，产生移动机器人可以通过使用精细地图通过狭窄通道的移动路径，并且通过反映移动路径来更新粗略地图。

3. 发明授权

US07933686B2 Method of dividing coverage area for robot and device thereof 有权
标题翻译：划分机器人的覆盖区域的方法及其装置
公开(公告)号：US07933686B2
公开(公告)日：2011-04-26
申请号：US11706215
申请日：2007-02-15
申请人： Hyeon Myeong , Seok-won Bang , Jung-won Kang , Si-jong Kim , Myung-Jin Chung , Su-jinn Lee
发明人： Hyeon Myeong , Seok-won Bang , Jung-won Kang , Si-jong Kim , Myung-Jin Chung , Su-jinn Lee
IPC分类号： G05B19/04 , G05B19/4061
CPC分类号： G05D1/0219 , G05D1/0274 , G05D2201/0203
摘要： A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.
摘要翻译：一种划分机器人的覆盖区域的方法及其装置。也就是说，生成用于机器人工作的空间图的方法和将空间图划分为至少一个段和用于其的装置。该方法包括生成由通过感测距离障碍物的距离而概率分布的网格点构成的占用网格图，通过基于半径来增加占用网格图中的障碍物和墙壁的厚度来产生配置空间图和机器人的大小，并且通过在配置空间图中用带式切片扫掠该区域来划分区域。

4. 发明申请

US20080046125A1 Method of dividing coverage area for robot and device thereof 有权
标题翻译：划分机器人的覆盖区域的方法及其装置
公开(公告)号：US20080046125A1
公开(公告)日：2008-02-21
申请号：US11706215
申请日：2007-02-15
申请人： Hyeon Myeong , Seok-won Bang , Jung-won Kang , Si-jong Kim , Myung-Jin Chung , Su-jinn Lee
发明人： Hyeon Myeong , Seok-won Bang , Jung-won Kang , Si-jong Kim , Myung-Jin Chung , Su-jinn Lee
IPC分类号： G05B19/04
CPC分类号： G05D1/0219 , G05D1/0274 , G05D2201/0203
摘要： A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.
摘要翻译：一种划分机器人的覆盖区域的方法及其装置。也就是说，生成用于机器人工作的空间图的方法和将空间图划分为至少一个段和用于其的装置。该方法包括生成由通过感测距离障碍物的距离而概率分布的网格点构成的占用网格图，通过基于半径来增加占用网格图中的障碍物和墙壁的厚度来产生配置空间图和机器人的大小，并且通过在配置空间图中用带式切片扫掠该区域来划分区域。

5. 发明申请

US20070271011A1 Indoor map building apparatus, method, and medium for mobile robot 审中-公开
标题翻译：移动机器人室内地图建筑装置，方法和介质
公开(公告)号：US20070271011A1
公开(公告)日：2007-11-22
申请号：US11715977
申请日：2007-03-09
申请人： Hyoung-ki Lee , Dong-yoon Kim , Seok-won Bang , Hyeon Myeong
发明人： Hyoung-ki Lee , Dong-yoon Kim , Seok-won Bang , Hyeon Myeong
IPC分类号： G06F19/00 , G05D1/02
CPC分类号： G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203
摘要： An indoor map building apparatus, method, and medium for a mobile robot are provided. The indoor map building apparatus includes a beacon which transmits/receives signals for determining the location of the mobile robot, a beacon location fixing module which moves the beacon to a predetermined location in an indoor space where the mobile robot is to travel and fixes the beacon at the predetermined location, a data processing module which determines the location of the mobile robot based on signals received from the beacon, and generates map information regarding the indoor space, an obstacle detection module which detects an obstacle when the mobile robot travels in the indoor space, and a driving module which moves the mobile robot.
摘要翻译：提供了一种用于移动机器人的室内地图制作装置，方法和介质。室内地图构建装置包括发送/接收用于确定移动机器人的位置的信号的信标，将信标移动到移动机器人要行进的室内空间中的预定位置的信标位置固定模块，并固定信标在所述预定位置处，基于从所述信标接收到的信号来确定所述移动机器人的位置的数据处理模块，并且生成关于所述室内空间的地图信息;障碍物检测模块，其在所述移动机器人在室内行进时检测障碍物空间以及移动机器人的驱动模块。

6. 发明申请

US20070118248A1 Method and apparatus for reckoning position of moving robot 有权
标题翻译：运动机器人的推算位置的方法和装置
公开(公告)号：US20070118248A1
公开(公告)日：2007-05-24
申请号：US11581489
申请日：2006-10-17
申请人： Hyoung-ki Lee , Hyeon Myeong , Ki-wan Choi , Yong-beom Lee , Seok-won Bang
发明人： Hyoung-ki Lee , Hyeon Myeong , Ki-wan Choi , Yong-beom Lee , Seok-won Bang
IPC分类号： G06F19/00
CPC分类号： G05D1/027 , G05D1/0225 , G05D1/0231 , G05D1/024 , G05D1/0246 , G05D1/0272 , G05D1/028 , G05D2201/0203
摘要： A method and apparatus for reckoning a position of a moving robot using dead-reckoning and range sensing. The method includes performing dead-reckoning to determine a variation state in accordance with motion of the moving robot, calculating an absolute position of the moving robot by sensing a distance between the moving robot and at least one fixed position, predicting an optimized current position of the moving robot using the variation state and the absolute position, determining whether the optimized current position is within a specified effective area, and correcting the optimized current position in accordance with the determined result.
摘要翻译：一种使用推算和距离检测计算移动机器人的位置的方法和装置。该方法包括执行推算，以根据移动机器人的运动来确定变化状态，通过感测移动机器人与至少一个固定位置之间的距离来计算移动机器人的绝对位置，预测最佳当前位置使用变化状态和绝对位置的移动机器人，确定优化的当前位置是否在规定的有效区域内，以及根据确定的结果来校正优化的当前位置。

7. 发明授权

US08463436B2 Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot 有权
公开(公告)号：US08463436B2
公开(公告)日：2013-06-11
申请号：US12215400
申请日：2008-06-27
申请人： Woo-yeon Jeong , Su-Jin Lee , Hyeon Myeong , Seok-Won Bang
发明人： Woo-yeon Jeong , Su-Jin Lee , Hyeon Myeong , Seok-Won Bang
IPC分类号： G05B19/042 , A47L11/00
CPC分类号： G05D1/0246 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0276 , G05D2201/0203
摘要： Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information.

8. 发明授权

US07679997B2 Method and apparatus for estimating position of robot 有权
标题翻译：用于估计机器人位置的方法和装置
公开(公告)号：US07679997B2
公开(公告)日：2010-03-16
申请号：US11808001
申请日：2007-06-05
申请人： Dong-geon Kong , Eun-young Choi , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
发明人： Dong-geon Kong , Eun-young Choi , Hyeon Myeong , Yong-beom Lee , Seok-won Bang
IPC分类号： G01S3/80
CPC分类号： G01S5/26 , G01S11/16
摘要： A method and apparatus estimating a position of a moving robot are provided. The method includes receiving a primary signal and a secondary signal transmitted from a predetermined signal transmitter using a sensor, on a moving robot, that receives the primary signal and three or more sensors that receive the secondary signal; calculating a transmission distance from a sensor that receives the secondary signal using time information extracted from the primary signal; and calculating a position of the signal transmitter from the distance, wherein the secondary signal comprises first and second secondary signals and each sensor that senses the secondary signal determines whether to amplify the second secondary signal based on the result of the measurement of the first secondary signal.
摘要翻译：提供了估计移动机器人的位置的方法和装置。该方法包括：在运动的机器人上接收主信号和从接收次级信号的三个或更多个传感器的使用传感器的预定信号发射器发送的主信号和次信号; 使用从所述主信号提取的时间信息计算从接收所述辅助信号的传感器的传输距离; 以及从所述距离计算所述信号发射机的位置，其中所述辅助信号包括第一和第二辅助信号，并且感测所述次级信号的每个传感器基于所述第一辅助信号的测量结果来确定是否放大所述第二辅助信号。

9. 发明申请

US20090149990A1 Method, medium, and apparatus for performing path planning of mobile robot 有权
标题翻译：用于执行移动机器人的路径规划的方法，介质和装置
公开(公告)号：US20090149990A1
公开(公告)日：2009-06-11
申请号：US12314088
申请日：2008-12-03
申请人： Hyeon Myeong , Seok-won Bang
发明人： Hyeon Myeong , Seok-won Bang
IPC分类号： G06F17/00
CPC分类号： G05D1/0274 , G05D2201/0203
摘要： A method, medium, and apparatus for performing path planning of a mobile robot is provided. The apparatus for performing path planning of a mobile robot includes a coarse map generation unit to generate a coarse map composed of a plurality of cells; a fine map generation unit to generate a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells is divided, and a path generation unit to control the fine map generation unit to generate the fine map with respect to a specified position in the coarse map generated through the coarse map generation unit. The method of performing path planning of a mobile robot includes generating a coarse map composed of a plurality of cells, generating a fine map composed of a plurality of sub-cells into which at least one of the plurality of cells, which neighbors the cell where an obstacle exists, is divided, generating a moving path whereby the mobile robot can pass a narrow passage by using the fine map, and updating the coarse map by reflecting the moving path.
摘要翻译：提供了一种用于执行移动机器人的路径规划的方法，介质和装置。用于执行移动机器人的路径规划的装置包括粗略地图生成单元，用于生成由多个单元组成的粗略地图; 精细图生成单元，生成由多个子单元中的至少一个单元划分成的多个子单元组成的精细图，以及路径生成单元，控制精细图生成单元，生成与该到通过粗略地图生成单元生成的粗略图中的指定位置。执行移动机器人的路径规划的方法包括生成由多个小区组成的粗略地图，生成由多个子小区组成的精细地图，多个小区中的至少一个小区邻近于该小区，存在障碍物，被分割，产生移动机器人可以通过使用精细地图通过狭窄通道的移动路径，并且通过反映移动路径来更新粗略地图。

10. 发明申请

US20090024251A1 Method and apparatus for estimating pose of mobile robot using particle filter 有权
标题翻译：使用粒子滤波器估计移动机器人姿态的方法和装置
公开(公告)号：US20090024251A1
公开(公告)日：2009-01-22
申请号：US12155552
申请日：2008-06-05
申请人： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
发明人： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0207
摘要： A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.
摘要翻译：提供了一种用于估计使用粒子滤波器的移动机器人姿态的方法和装置。该装置包括检测移动机器人的姿势变化的里程表，从移动机器人捕获的向上图像中提取至少一个特征的特征处理模块，以及确定当前姿势和权重的粒子滤波器模块多个粒子通过将移动机器人姿态变化由里程表检测出，并将特征提取的特征提取到粒子的先前姿态和重量。

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