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1. 发明授权

US07282028B2 Method and apparatus for measuring animal's condition by acquiring and analyzing its biological signals 失效
标题翻译：通过获取和分析其生物信号来测量动物状况的方法和装置
公开(公告)号：US07282028B2
公开(公告)日：2007-10-16
申请号：US10339461
申请日：2003-01-10
申请人： Kyung-hwan Kim , Seok-won Bang , Hyoung-ku Lee
发明人： Kyung-hwan Kim , Seok-won Bang , Hyoung-ku Lee
IPC分类号： A61B5/00
CPC分类号： A61B5/0456 , A01K29/00 , A61B5/024 , A61B5/04 , A61B5/0488 , A61B5/16 , A61B5/7264 , Y10S128/92
摘要： A method and apparatus for measuring the biological condition of an animal by acquiring and analyzing its biological signals are provided. The biological signals from skin temperature, a photoplenthysmogram (PPG), an electrocardiogram (ECG), electrodermal activity (EDA), an electromyogram (EMG), and an electrogastrogram (EGG) are detected using a biological signal detection unit which is attached to the animal's skin. Feature vectors, including the mean heart rate of the photoplenthysmogram and its standard deviation, the very low frequency, low frequency, and high frequency components of heart rate variability, the frequency and mean amplitude of skin conductance responses, and the mean and maximum skin temperatures, are extracted from the detected biological signals. The biological condition, including needs and emotions, of the animal as to whether or not the animal feels hunger or fear, how much the animal is stressed, or whether or not the animal needs to have a bowel movement, is determined using a pattern classifier which has learned reference vectors, which reflect the behaviors, needs, and emotions of different kinds of animals for various biological conditions and are stored in a predetermined database. Therefore, the biological condition of the animal can be determined through instrumental communication, not through human languages, and the breeding of pets can be efficiently managed.
摘要翻译：提供了一种通过获取并分析其生物信号来测量动物的生物学状态的方法和装置。使用生物信号检测单元检测来自皮肤温度，光积液图（PPG），心电图（ECG），皮肤电活动（EDA），肌电图（EMG）和电胃图（EGG）的生物信号，动物的皮肤。特征向量，包括光积液图的平均心率及其标准偏差，心率变异性的极低频，低频和高频分量，皮肤电导反应的频率和平均幅度以及平均和最大皮肤温度从检测到的生物信号中提取出来。使用模式分类器来确定动物的生物状况，包括动物是否感到饥饿或恐惧，动物多么强调，还是动物是否需要排便的动物的需求和情绪已经学习了参考矢量，其反映了各种生物条件下不同动物的行为，需要和情绪，并存储在预定的数据库中。因此，动物的生物学条件可以通过器官交流来确定，而不是通过人类语言，可以有效地管理宠物的繁殖。

2. 发明授权

US06816802B2 Object growth control system and method 有权
标题翻译：对象增长控制系统和方法
公开(公告)号：US06816802B2
公开(公告)日：2004-11-09
申请号：US10287679
申请日：2002-11-05
申请人： Jay-woo Kim , Kyung-hwan Kim , Seok-won Bang , Mi-hee Lee , Dong-geon Kong , Hyoung-ki Lee
发明人： Jay-woo Kim , Kyung-hwan Kim , Seok-won Bang , Mi-hee Lee , Dong-geon Kong , Hyoung-ki Lee
IPC分类号： G06F1900
CPC分类号： G06N3/004
摘要： An object growth control system and method are provided. The object growth control system includes a weighting unit, a growth state analyzer, and an object operation controller. The weighting unit detects external environments and a user's state, loads weights on predetermined user emotional states, predetermined object growth tendencies, and predetermined object emotional states according to the result of detection and the user's tendency, and outputs the results of loading of the weights as state data. The growth state analyzer applies a predetermined statistical model to the state data input for a predetermined period to analyze the user's tendency and outputs a degree of education on the object with respect to the user's tendency based on the state data to which the predetermined statistical model has been applied. The object operation controller applies a predetermined rule-based or statistical model to the state data and the degree of education to generate a control signal for controlling the operation of the object.
摘要翻译：提供了一种物体生长控制系统和方法。对象增长控制系统包括加权单元，增长状态分析器和对象操作控制器。加权单元根据检测结果和用户倾向检测外部环境和用户状态，加载预定用户情绪状态的权重，预定对象增长趋势和预定对象情绪状态，并将权重的加载结果输出为状态数据。生长状态分析器将预定的统计模型应用于预定时段的状态数据输入，以分析用户的趋势，并基于预定统计模型具有的状态数据，输出关于用户倾向的对象的教育程度已被应用。对象操作控制器对状态数据和教育程度应用预定的基于规则的或统计模型，以产生用于控制对象的操作的控制信号。

3. 发明授权

US07547279B2 System and method for recognizing user's emotional state using short-time monitoring of physiological signals 失效
标题翻译：用生理信号短时间监测识别用户情绪状态的系统和方法
公开(公告)号：US07547279B2
公开(公告)日：2009-06-16
申请号：US10348976
申请日：2003-01-23
申请人： Kyung-hwan Kim , Seok-won Bang , Dong-geon Kong
发明人： Kyung-hwan Kim , Seok-won Bang , Dong-geon Kong
IPC分类号： A61B5/00
CPC分类号： A61B5/02405 , A61B5/0002 , A61B5/16 , A61B5/7264 , A61B5/7267 , Y10S128/92
摘要： Disclosed is an emotion recognition apparatus and method thereof which enables perception of a user's emotional state by monitoring one or more of his or her physiological signals. The emotion recognition apparatus comprises a feature analyzer adapted to analyze features of the physiological signals acquired from a user and generate feature values, a subtractor adapted to obtain differences between the feature values generated by the feature analyzer and feature values used as a standard to perceive an emotional state of the user, and an emotion classifier adapted to analyze the differences obtained by the subtractor and classify an emotion into a plurality of emotional categories so as to perceive an emotional category exhibiting the greatest intensity to be the emotional state of the user.
摘要翻译：公开了一种情感识别装置及其方法，其通过监视他或她的生理信号中的一个或多个能够感知用户的情绪状态。情感识别装置包括适于分析从用户获取的生理信号的特征并产生特征值的特征分析器，适于获得由特征分析器生成的特征值与用作标准的特征值之间的差异的减法器，用户的情绪状态，以及适于分析由减法器获得的差异并将情感分类为多个情感类别以便感知呈现最大强度的情感类别成为用户情感状态的情感分类器。

4. 发明授权

US09182763B2 Apparatus and method for generating three-dimensional map using structured light 有权
公开(公告)号：US09182763B2
公开(公告)日：2015-11-10
申请号：US12153440
申请日：2008-05-19
申请人： Dong-ryeol Park , Dong-jo Kim , Seok-won Bang , Hyoung-ki Lee
发明人： Dong-ryeol Park , Dong-jo Kim , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G06F19/00 , G05D1/02
CPC分类号： G05D1/0274 , G05D1/024 , G05D1/027 , G05D1/0272
摘要： A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.

5. 发明申请

US20120029698A1 METHOD, APPARATUS, AND MEDIUM FOR ESTIMATING POSE OF MOBILE ROBOT USING PARTICLE FILTER 有权
标题翻译：使用颗粒过滤器估算移动机器人的方法，装置和介质
公开(公告)号：US20120029698A1
公开(公告)日：2012-02-02
申请号：US13269027
申请日：2011-10-07
申请人： Hyeon MYEONG , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
发明人： Hyeon MYEONG , Seok-won Bang , Dong-geon Kong , Su-jinn Lee
IPC分类号： B25J9/18
CPC分类号： G05D1/0272 , G05D1/0255 , G05D1/0274 , G05D2201/0203
摘要： Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor.
摘要翻译：公开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，装置和介质。根据本发明的实施例的用于估计使用粒子滤波器的移动机器人的姿势的方法包括：通过将检测到的姿势变化应用于前一个的姿势，来检测移动机器人的姿势变化并计算当前粒子的姿态粒子，根据由传感器获得的范围数据和地图信息，预测当前粒子的姿态的概率并获得当前粒子的权重，基于权重对当前粒子进行重采样，并且调整权重考虑传感器的误差。

6. 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。

7. 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。

8. 发明申请

US20090028387A1 Apparatus and method for recognizing position of mobile robot 有权
标题翻译：识别移动机器人位置的装置和方法
公开(公告)号：US20090028387A1
公开(公告)日：2009-01-29
申请号：US12218058
申请日：2008-07-11
申请人： Woo-yeon Jeong , Jun-ho Park , Seok-won Bang
发明人： Woo-yeon Jeong , Jun-ho Park , Seok-won Bang
IPC分类号： G06K9/62
CPC分类号： G06K9/00664 , G05D1/0246 , G06K9/2027 , G06T1/0007
摘要： Provided is an apparatus for recognizing the position of a mobile robot. The apparatus includes an image capturing unit which is loaded into a mobile robot and captures an image; an illuminance determining unit which determines illuminance at a position where an image is to be captured; a light-emitting unit which emits light toward the position; a light-emitting control unit which controls the light-emitting unit according to the determined illuminance; a driving control unit which controls the speed of the mobile robot according to the determined illuminance; and a position recognizing unit which recognizes the position of the mobile robot by comparing a pre-stored image to the captured image.
摘要翻译：提供了一种用于识别移动机器人的位置的装置。该装置包括：图像拍摄单元，其被加载到移动机器人中并捕获图像; 照度确定单元，确定要拍摄图像的位置处的照度; 朝向该位置发光的发光单元; 发光控制单元，其根据所确定的照度控制所述发光单元; 驱动控制单元，其根据确定的照度控制移动机器人的速度; 以及位置识别单元，通过将预先存储的图像与捕获的图像进行比较来识别移动机器人的位置。

9. 发明申请

US20070290828A1 Moving apparatus, method, and medium for compensating position of the moving apparatus 有权
标题翻译：移动装置，方法和介质，用于补偿移动装置的位置
公开(公告)号：US20070290828A1
公开(公告)日：2007-12-20
申请号：US11707992
申请日：2007-02-20
申请人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang , Dong-yoon Kim
发明人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang , Dong-yoon Kim
IPC分类号： B60Q1/26
CPC分类号： G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： Provided are a moving apparatus and an apparatus, method, and medium for compensating position based on a position recognition technology. The moving apparatus which provides a function for correcting a position includes a sensing unit obtaining multiple state information reflecting one or more abnormal movement states generated by movements of the moving apparatus; a state determination unit determining whether or not the abnormal movement state is generated by self-contained navigation, by referring to the obtained multiple state information; and a position information calculation unit calculating final position information of the moving apparatus, by correcting the multiple state information as the abnormal movement state occurs.
摘要翻译：提供了一种基于位置识别技术的移动装置和用于补偿位置的装置，方法和介质。提供用于校正位置的功能的移动装置包括：感测单元，获得反映由移动装置的移动产生的一个或多个异常运动状态的多个状态信息; 状态确定单元，通过参照所获得的多个状态信息来确定是否通过独立导航生成异常运动状态; 以及位置信息计算单元，通过在发生异常运动状态的情况下校正多个状态信息来计算移动装置的最终位置信息。

10. 发明申请

US20070271004A1 Cleaning robot having carpet detector and method of detecting carpet boundary using the same 有权
标题翻译：具有地毯检测器的清洁机器人及使用其检测地毯边界的方法
公开(公告)号：US20070271004A1
公开(公告)日：2007-11-22
申请号：US11634146
申请日：2006-12-06
申请人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
发明人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0227 , A47L9/2826 , A47L9/2852 , A47L2201/04 , G05D1/0272 , G05D2201/0203
摘要： A cleaning robot having a carpet detector and a method of detecting a carpet boundary using the same, in which the presence of the carpet on a floor is detected. The cleaning robot having a carpet detector includes a main body, a driver fixed to the main body to move the robot, and the carpet detector detecting a carpet when the robot is driven by the driver. The method of detecting a carpet boundary includes detecting a carpet using respective carpet detectors fixed to both wheels of a robot, obtaining a moving distance of the robot for an interval between times at which the respective carpet detectors detect the carpet, and calculating a boundary direction of the carpet with respect to a moving direction of the robot using the moving distance and the interval between the times at which the respective carpet detectors detect the carpet.
摘要翻译：一种具有地毯检测器的清洁机器人和使用该清洁机器人检测地毯边缘的方法，其中检测到地毯上的存在。具有地毯检测器的清洁机器人包括主体，固定到主体以使机器人移动的驱动器，以及当机器人被驾驶员驱动时检测地毯的地毯检测器。检测地毯边界的方法包括使用固定在机器人的两个轮上的各自的地毯检测器来检测地毯，获得机器人在各个地毯检测器检测到地毯的时间之间的时间间隔的移动距离，以及计算边界方向的地毯相对于机器人的移动方向使用移动距离和各个地毯检测器检测到地毯的时间之间的间隔。

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