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1. 发明授权

US07974302B2 Hybrid implicit token carrier sensing multiple access/collision avoidance protocol 有权
标题翻译：混合隐式令牌载波侦听多路访问/冲突避免协议
公开(公告)号：US07974302B2
公开(公告)日：2011-07-05
申请号：US12577831
申请日：2009-10-13
申请人： Tae Man Han , You Hyeon Jeong , Heesung Chae , Dong Won Kim , Jun Hwa Lee
发明人： Tae Man Han , You Hyeon Jeong , Heesung Chae , Dong Won Kim , Jun Hwa Lee
IPC分类号： H04L12/413
CPC分类号： H04W74/02 , H04L12/413 , H04L12/417 , H04W74/0816
摘要： Provided is a distributed and asynchronous implicit token carrier sense multiple access/collision avoidance (CSMA/CA) protocol guaranteeing quality of service for both real time and non-real time traffic. The implicit token CSMA/CA protocol allocates a band in an entire bandwidth to voice traffic and allows the remaining bands to be used for data traffic. The implicit token CSMA/CA protocol includes applying a token passing protocol to transmit voice traffic in real time by having a band in an entire bandwidth allocated using a predetermined data frame and applying a CSMA/CA mechanism to transmit data traffic in non-real time by employing remaining bands not allocated to the voice traffic using another predetermined data frame.
摘要翻译：提供了一种分布式和异步隐含令牌载波侦听多路访问/冲突避免（CSMA / CA）协议，保证实时和非实时流量的服务质量。隐性令牌CSMA / CA协议将整个带宽中的频带分配给语音业务，并允许剩余频带用于数据业务。隐含令牌CSMA / CA协议包括通过使用预定数据帧分配整个带宽中的频带并且以非实时的方式应用CSMA / CA机制来发送数据业务来应用令牌传递协议来实时传输话音业务通过使用未分配给语音业务的剩余频带，使用另一预定数据帧。

2. 发明授权

US07643509B2 Hybrid implicit token carrier sensing multiple access/collision avoidance protocol 有权
标题翻译：混合隐式令牌载波侦听多路访问/冲突避免协议
公开(公告)号：US07643509B2
公开(公告)日：2010-01-05
申请号：US10930080
申请日：2004-08-30
申请人： Tae Man Han , You Hyeon Jeong , Heesung Chae , Dong Won Kim , Jun Hwa Lee
发明人： Tae Man Han , You Hyeon Jeong , Heesung Chae , Dong Won Kim , Jun Hwa Lee
IPC分类号： H04L12/413
CPC分类号： H04W74/02 , H04L12/413 , H04L12/417 , H04W74/0816
摘要： Provided is a distributed and asynchronous implicit token carrier sense multiple access/collision avoidance (CSMA/CA) protocol guaranteeing quality of service for both real time and non-real time traffic. The implicit token CSMA/CA protocol allocates a band in an entire bandwidth to voice traffic and allows the remaining bands to be used for data traffic. The implicit token CSMA/CA protocol includes applying a token passing protocol to transmit voice traffic in real time by having a band in an entire bandwidth allocated using a predetermined data frame and applying a CSMA/CA mechanism to transmit data traffic in non-real time by employing remaining bands not allocated to the voice traffic using another predetermined data frame.
摘要翻译：提供了一种分布式和异步隐含令牌载波侦听多路访问/冲突避免（CSMA / CA）协议，保证实时和非实时流量的服务质量。隐性令牌CSMA / CA协议将整个带宽中的频带分配给语音业务，并允许剩余频带用于数据业务。隐含令牌CSMA / CA协议包括通过使用预定数据帧分配整个带宽中的频带并且以非实时的方式应用CSMA / CA机制来发送数据业务来应用令牌传递协议来实时传输话音业务通过使用未分配给语音业务的剩余频带，使用另一预定数据帧。

3. 发明申请

US20050135408A1 Hybrid implicit token carrier sensing multiple access/collision avoidance protocol 有权
标题翻译：混合隐式令牌载波侦听多路访问/冲突避免协议
公开(公告)号：US20050135408A1
公开(公告)日：2005-06-23
申请号：US10930080
申请日：2004-08-30
申请人： Tae Han , You Jeong , Heesung Chae , Dong Kim , Jun Lee
发明人： Tae Han , You Jeong , Heesung Chae , Dong Kim , Jun Lee
IPC分类号： H04L29/06 , H04J3/17 , H04L12/413 , H04L12/417
CPC分类号： H04W74/02 , H04L12/413 , H04L12/417 , H04W74/0816
摘要： Provided is a distributed and asynchronous implicit token carrier sense multiple access/collision avoidance (CSMA/CA) protocol guaranteeing quality of service for both real time and non-real time traffic. The implicit token CSMA/CA protocol allocates a band in an entire bandwidth to voice traffic and allows the remaining bands to be used for data traffic. The implicit token CSMA/CA protocol includes applying a token passing protocol to transmit voice traffic in real time by having a band in an entire bandwidth allocated using a predetermined data frame and applying a CSMA/CA mechanism to transmit data traffic in non-real time by employing remaining bands not allocated to the voice traffic using another predetermined data frame.
摘要翻译：提供了一种分布式和异步隐含令牌载波侦听多路访问/冲突避免（CSMA / CA）协议，保证实时和非实时流量的服务质量。隐性令牌CSMA / CA协议将整个带宽中的频带分配给语音业务，并允许剩余频带用于数据业务。隐含令牌CSMA / CA协议包括通过使用预定数据帧分配整个带宽中的频带并且以非实时的方式应用CSMA / CA机制来发送数据业务来应用令牌传递协议来实时传输话音业务通过使用未分配给语音业务的剩余频带，使用另一预定数据帧。

4. 发明授权

US08027515B2 System and method for real-time calculating location 有权
标题翻译：用于实时计算位置的系统和方法
公开(公告)号：US08027515B2
公开(公告)日：2011-09-27
申请号：US12089563
申请日：2005-12-14
申请人： Jae Yeong Lee , Heesung Chae , Won Pil Yu , Young Jo Cho
发明人： Jae Yeong Lee , Heesung Chae , Won Pil Yu , Young Jo Cho
IPC分类号： G06K9/00
CPC分类号： G01S5/16 , G01S1/70 , G05D1/0246
摘要： Provided is a system and method for providing location information of robot in real time using an artificial mark. The system includes: an image processing module for obtaining an image signal by photographing artificial marks installed at a predetermined space with a space coordinate and detecting an image coordinate of artificial mark from the obtaining the image signal; a location calculating module for calculating a current location by comparing the image coordinate of detected artificial mark and a pre-stored space coordinate of artificial mark; and an artificial mark identifying module for updating current location information by selectively using one of an artificial mark tracing process and an image coordinate estimating process.
摘要翻译：提供了一种使用人造标记实时提供机器人位置信息的系统和方法。该系统包括：图像处理模块，用于通过拍摄安装在具有空间坐标的预定空间的人造标记来获得图像信号，并从获得图像信号中检测人造标记的图像坐标; 位置计算模块，用于通过比较检测到的人造标记的图像坐标和人造标记的预先存储的空间坐标来计算当前位置; 以及人造标记识别模块，用于通过选择性地使用人造标记跟踪处理和图像坐标估计处理之一来更新当前位置信息。

5. 发明申请

US20090312871A1 SYSTEM AND METHOD FOR CALCULATING LOCATION USING A COMBINATION OF ODOMETRY AND LANDMARKS 审中-公开
公开(公告)号：US20090312871A1
公开(公告)日：2009-12-17
申请号：US12375165
申请日：2007-03-13
申请人： Jae-Yeong Lee , Heesung Chae , Won-Pil Yu
发明人： Jae-Yeong Lee , Heesung Chae , Won-Pil Yu
IPC分类号： G06F7/00
CPC分类号： G01S5/163 , G01C21/00 , G01C22/02 , G05D1/0234 , G05D1/0272
摘要： Disclosed is a system and method for calculation a location in a real-time manner using a combination of odometry and artificial landmarks. The system for calculating a location comprising a landmark detection unit detecting an image coordinates value of the artificial landmark corresponding to a location in a two-dimensional image coordinate system with respect to a mobile robot from an image obtained by photographing a specific space where the artificial landmarks are provided; a landmark identification unit comparing a predicted image value of the artificial landmark, obtained by converting a location coordinates value of the artificial landmark into an image coordinates value corresponding to the location in the two-dimensional image coordinate system with respect to a location coordinates value corresponding to a location in an actual three-dimensional spatial coordinate system of the mobile robot, with an image coordinates value detected by the landmark detection unit to detect the location coordinates value of the artificial landmark; a first location calculation unit calculating a current location coordinates value of the mobile robot using a predetermined location calculation algorithm based on the image coordinates value detected by the landmark detection unit and the location coordinates value detected by the landmark identification unit; a second location calculation unit calculating a current location coordinates value of the mobile robot using a predetermined location calculation algorithm based on odometry information of the mobile robot; and a main control unit updating the current location coordinates value of the mobile robot, using the location coordinates value calculated by the first location calculation unit when the location coordinates value calculated by the first location calculation unit exists, or using the location coordinate value obtained from the second location calculation unit when the location coordinates value calculated by the first location calculation unit does not exist.

6. 发明申请

US20070150097A1 Localization system and method of mobile robot based on camera and landmarks 有权
标题翻译：基于相机和地标的移动机器人的本地化系统和方法
公开(公告)号：US20070150097A1
公开(公告)日：2007-06-28
申请号：US11508716
申请日：2006-08-23
申请人： Heesung Chae , Won Pil Yu , Jae Young Lee , Young Jo Cho
发明人： Heesung Chae , Won Pil Yu , Jae Young Lee , Young Jo Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0234 , G05D1/0274 , G05D2201/0211
摘要： A localization system and method of a mobile robot using a camera and artificial landmarks in a home and a general office environment (or working zone) is provided. The localization system includes artificial landmarks having an LED flash function in an invisible wavelength band, a camera with a wide-angle lens, a module flashing landmarks attached at the ceiling and identifying positions and IDs of the landmarks from an image photographed by the camera having a filter, a module calculating position and orientation of the robot using two landmarks of the image in a stop state, a module, when a ceiling to which the landmarks are attached has different heights, a position of the robot, and a module, when a new landmark is attached in the working zone, calculating a position of the new landmark on an absolute coordinate.
摘要翻译：提供了一种在家庭和一般办公环境（或工作区域）中使用照相机和人造地标的移动机器人的定位系统和方法。本地化系统包括具有不可见波长带中的LED闪光功能的人造地标，具有广角镜头的相机，在天花板附近闪烁地标的模块，以及由相机拍摄的图像识别地标的位置和ID，一个过滤器，一个模块，当停止状态下图像的两个地标的模块计算机器人的位置和方向时，模块，当附着地标的天花板具有不同的高度，机器人的位置和模块时，当在工作区附加了一个新的地标，在绝对坐标上计算新地标的位置。

7. 发明授权

US07634336B2 Localization system and method of mobile robot based on camera and landmarks 有权
标题翻译：基于相机和地标的移动机器人的本地化系统和方法
公开(公告)号：US07634336B2
公开(公告)日：2009-12-15
申请号：US11508716
申请日：2006-08-23
申请人： Heesung Chae , Won Pil Yu , Jae Young Lee , Young Jo Cho
发明人： Heesung Chae , Won Pil Yu , Jae Young Lee , Young Jo Cho
IPC分类号： G05D1/00
CPC分类号： G05D1/0234 , G05D1/0274 , G05D2201/0211
摘要： A localization system and method of a mobile robot using a camera and artificial landmarks in a home and a general office environment (or working zone) is provided. The localization system includes artificial landmarks having an LED flash function in an invisible wavelength band, a camera with a wide-angle lens, a module flashing landmarks attached at the ceiling and identifying positions and IDs of the landmarks from an image photographed by the camera having a filter, a module calculating position and orientation of the robot using two landmarks of the image in a stop state, a module, when a ceiling to which the landmarks are attached has different heights, a position of the robot, and a module, when a new landmark is attached in the working zone, calculating a position of the new landmark on an absolute coordinate.
摘要翻译：提供了一种在家庭和一般办公环境（或工作区域）中使用照相机和人造地标的移动机器人的定位系统和方法。本地化系统包括具有不可见波长带中的LED闪光功能的人造地标，具有广角镜头的相机，在天花板附近闪烁地标的模块，以及由相机拍摄的图像识别地标的位置和ID，一个过滤器，一个模块，当停止状态下图像的两个地标的模块计算机器人的位置和方向时，模块，当附着地标的天花板具有不同的高度，机器人的位置和模块时，当在工作区附加了一个新的地标，在绝对坐标上计算新地标的位置。

8. 发明授权

US09712772B2 Image sensor and analog to digital converter and analog to digital converting method thereof 有权
公开(公告)号：US09712772B2
公开(公告)日：2017-07-18
申请号：US14459654
申请日：2014-08-14
申请人： Jinwoo Kim , Kyung-Min Kim , Jungho Lee , Heesung Chae , Seunghoon Jung
发明人： Jinwoo Kim , Kyung-Min Kim , Jungho Lee , Heesung Chae , Seunghoon Jung
IPC分类号： H04N5/369 , H04N5/335 , H04N5/378 , H04N5/357
CPC分类号： H04N5/378 , H04N5/357 , H04N5/3575
摘要： An image sensor is provided. The image sensor includes a pixel array having active pixel sensors arranged in rows and columns; a correlated double sampler that converts sensing signals transferred from pixels sensors selected from the active pixel sensors to correlated double sampling signals and outputs a conversion result by column; and an analog-to-digital converter that converts the correlated double sampling signals corresponding to plural columns to digital signals using a global code. The analog-to-digital converter includes a column shared operator that performs a digital conversion operation on correlated double sampling signals corresponding to two or more columns of the plural columns.

9. 发明申请

US20080310682A1 System and Method for Real-Time Calculating Location 有权
标题翻译：实时计算位置的系统和方法
公开(公告)号：US20080310682A1
公开(公告)日：2008-12-18
申请号：US12089563
申请日：2005-12-14
申请人： Jae Yeong Lee , Heesung Chae , Won Pil Yu , Young Jo Cho
发明人： Jae Yeong Lee , Heesung Chae , Won Pil Yu , Young Jo Cho
IPC分类号： G06K9/00
CPC分类号： G01S5/16 , G01S1/70 , G05D1/0246
摘要： Provided is a system and method for providing location information of robot in real time using an artificial mark. The system includes: an image processing module for obtaining an image signal by photographing artificial marks installed at a predetermined space with a space coordinate and detecting an image coordinate of artificial mark from the obtaining the image signal; a location calculating module for calculating a current location by comparing the image coordinate of detected artificial mark and a pre-stored space coordinate of artificial mark; and an artificial mark identifying module for updating current location information by selectively using one of an artificial mark tracing process and an image coordinate estimating process.
摘要翻译：提供了一种使用人造标记实时提供机器人位置信息的系统和方法。该系统包括：图像处理模块，用于通过拍摄安装在具有空间坐标的预定空间的人造标记来获得图像信号，并从获得图像信号中检测人造标记的图像坐标; 位置计算模块，用于通过比较检测到的人造标记的图像坐标和人造标记的预先存储的空间坐标来计算当前位置; 以及人造标记识别模块，用于通过选择性地使用人造标记跟踪处理和图像坐标估计处理之一来更新当前位置信息。

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