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1. 发明授权

US08315407B2 Apparatus and method for localizing sound source in real time 有权
标题翻译：实时定位声源的装置和方法
公开(公告)号：US08315407B2
公开(公告)日：2012-11-20
申请号：US12497043
申请日：2009-07-02
申请人： Wook Jae Jeon , Seung Hun Jin , Dong Kyun Kim , Jong Suk Choi , Chang Hoon Lee , Mun Sang Kim
发明人： Wook Jae Jeon , Seung Hun Jin , Dong Kyun Kim , Jong Suk Choi , Chang Hoon Lee , Mun Sang Kim
IPC分类号： H04R3/00
CPC分类号： H04S1/007
摘要： The present invention relates to an apparatus and method for localizing a sound source in real time. The apparatus for localizing a sound source in real time includes a sound signal acquisition unit for acquiring sound signals through two or more channels. A sample delay storage unit stores a plurality of pieces of data, sampled from the sound signals acquired through respective channels, for a predetermined period of time. A correlation calculation unit calculates correlations between the channels from the plurality of pieces of sampled data stored in the sample delay storage unit. A sound source direction calculation unit calculates an azimuth angle of the sound source using both the correlations between the channels and location relationships of the sound signal acquisition unit. Accordingly, the present invention can localize a sound source in real time.
摘要翻译：本发明涉及实时定位声源的装置和方法。用于实时定位声源的装置包括用于通过两个或更多个声道获取声音信号的声音信号获取单元。采样延迟存储单元存储从通过各个通道获取的声音信号中采样的多条数据，预定时间段。相关计算单元计算来自存储在采样延迟存储单元中的多条采样数据的信道之间的相关性。声源方向计算单元使用声道和声音信号获取单元的位置关系之间的相关性来计算声源的方位角。因此，本发明可以实时定位声源。

2. 发明申请

US20100202703A1 REAL-TIME FACE DETECTION APPARATUS 有权
标题翻译：实时脸部检测装置
公开(公告)号：US20100202703A1
公开(公告)日：2010-08-12
申请号：US12389533
申请日：2009-02-20
申请人： Jae Wook Jeon , Seung Hun Jin , Dong Kyun Kim , Tuong Thuy Nguyen , Dai Jin Kim , Mun Sang Kim
发明人： Jae Wook Jeon , Seung Hun Jin , Dong Kyun Kim , Tuong Thuy Nguyen , Dai Jin Kim , Mun Sang Kim
IPC分类号： G06K9/62
CPC分类号： G06K9/00281 , G06K2009/4666
摘要： Disclosed herein is a real-time face detection apparatus. The real-time face detection apparatus includes a down-scaling unit and a face region comparison unit. The down-scaling unit down-scales an input image at at least one ratio. The face region comparison unit creates a plurality of windows for the image down-scaled at the at least one ratio, acquires face region confidence of each of window images within the created windows by comparing the window image with a classifier, and determines whether the window image corresponds to a face region.
摘要翻译：这里公开了一种实时面部检测装置。实时脸部检测装置包括缩小单元和面部区域比较单元。缩小单位以至少一个比例缩放输入图像。所述面部区域比较单元以所述至少一个比例生成用于缩小的图像的多个窗口，通过将所述窗口图像与分类器进行比较来获取所生成的窗口内的每个窗口图像的面部区域置信度，并且确定所述窗口图像对应于面部区域。

3. 发明授权

US08363983B2 Real-time face detection apparatus 有权
标题翻译：实时脸部检测装置
公开(公告)号：US08363983B2
公开(公告)日：2013-01-29
申请号：US12389533
申请日：2009-02-20
申请人： Jae Wook Jeon , Seung Hun Jin , Dong Kyun Kim , Tuong Thuy Nguyen , Dai Jin Kim , Mun Sang Kim
发明人： Jae Wook Jeon , Seung Hun Jin , Dong Kyun Kim , Tuong Thuy Nguyen , Dai Jin Kim , Mun Sang Kim
IPC分类号： G06K9/32 , G06K9/00 , G06K9/68
CPC分类号： G06K9/00281 , G06K2009/4666
摘要： Disclosed herein is a real-time face detection apparatus. The real-time face detection apparatus includes a down-scaling unit and a face region comparison unit. The down-scaling unit down-scales an input image at at least one ratio. The face region comparison unit creates a plurality of windows for the image down-scaled at the at least one ratio, acquires face region confidence of each of window images within the created windows by comparing the window image with a classifier, and determines whether the window image corresponds to a face region.
摘要翻译：这里公开了一种实时面部检测装置。实时人脸检测装置包括缩小单元和面部区域比较单元。缩小单位以至少一个比例缩放输入图像。所述面部区域比较单元以所述至少一个比例生成用于缩小的图像的多个窗口，通过将所述窗口图像与分类器进行比较来获取所生成的窗口内的每个窗口图像的面部区域置信度，并且确定所述窗口图像对应于面部区域。

4. 发明授权

US07020542B2 Apparatus for measuring and fixing the three-dimensional location of medical instrument 失效
标题翻译：用于测量和固定医疗器械三维位置的装置
公开(公告)号：US07020542B2
公开(公告)日：2006-03-28
申请号：US10437625
申请日：2003-05-14
申请人： Mun Sang Kim , Sung Kee Park , Jong Suk Choi , Chang Hyun Cho , Dong Seok Ryu , Yo Ha Hwang , Min Joo Choi
发明人： Mun Sang Kim , Sung Kee Park , Jong Suk Choi , Chang Hyun Cho , Dong Seok Ryu , Yo Ha Hwang , Min Joo Choi
IPC分类号： G06F19/00
CPC分类号： G05B19/401 , A61B34/70 , A61B90/50 , G05B2219/31136 , G05B2219/37431 , G05B2219/37618 , G05B2219/39251 , G05B2219/45123
摘要： An apparatus for measuring and fixing the three-dimensional location of medical instrument that can be easily placed at a desired location by a user. In addition, a medical apparatus for measuring the three-dimensional locations of an apparatus fixed at an end portion of a cancer and an external apparatus and fixing the apparatus at an end portion of the cancer, which can be easily placed at a desired location by a user and carries out the location-fixing and measuring at the same time. The apparatus is applicable for various medical fields such as the measurement of the location and orientation of an external apparatus, the measurement of relative locations of a medical instrument contacted to an end-portion of a cancer and the object body, and the fixation of the instrument at a desired location.
摘要翻译：一种用于测量和固定医疗仪器的三维位置的装置，其可以由用户容易地放置在期望的位置。另外，一种医疗装置，用于测量固定在癌的端部的装置的三维位置和外部装置，并且将该装置固定在癌症的末端部分，其可以容易地放置在期望的位置处用户同时进行定位和测量。该装置适用于各种医疗领域，例如测量外部设备的位置和方向，测量与癌症的终端部分接触的医疗器械的相对位置和物体，以及固定仪器在所需的位置。

5. 发明授权

US08366560B2 Coupling device for coupling a rotating shaft and a rotating member, and rotating device using the same 有权
标题翻译：用于联接旋转轴和旋转构件的联接装置，以及使用其的旋转装置
公开(公告)号：US08366560B2
公开(公告)日：2013-02-05
申请号：US12995665
申请日：2008-07-22
申请人： Woo Sub Lee , Sung Chul Kang , Mun Sang Kim , Jun Ho Choi , Chang Mook Chun
发明人： Woo Sub Lee , Sung Chul Kang , Mun Sang Kim , Jun Ho Choi , Chang Mook Chun
IPC分类号： F16D3/12
CPC分类号： B25J19/06 , F16D7/10
摘要： A coupling device has a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft, an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft, and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole having an initial-position portion in which the flexible member is positioned at the initial stage and a displaced-position portion which has a smaller diameter than the initial-position portion and of which the diameter is constant about the rotating shaft, and an another through-hole having an initial-position portion in which the flexible member is positioned and a return-position portion of which the radius decreases from the initial-position portion.
摘要翻译：联接装置具有垂直连接到旋转轴的柔性构件，其长度可以相对于旋转轴在向内和向外的方向上变化;弹性构件，其连接到柔性构件，并且使柔性构件构件相对于旋转轴在向外方向上接收弹力;以及凸轮构件，其可旋转地连接到旋转轴并将旋转轴的旋转力传递到旋转构件。凸轮构件具有通孔，该通孔具有初始位置部分，柔性构件位于初始位置，并且位移部分具有比初始位置部分更小的直径并且其直径恒定在约旋转轴和另一通孔，其具有弹性构件所在的初始位置部分和从初始位置部分起半径减小的返回位置部分。

6. 发明授权

US08794099B2 Weight compensation mechanism and robot arm using the same 有权
标题翻译：重量补偿机构和机器人臂使用相同
公开(公告)号：US08794099B2
公开(公告)日：2014-08-05
申请号：US13314566
申请日：2011-12-08
申请人： Sung Chul Kang , Chang Hyun Cho , Mun Sang Kim
发明人： Sung Chul Kang , Chang Hyun Cho , Mun Sang Kim
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B25J19/00
CPC分类号： B25J19/0016 , Y10S901/48 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329 , Y10T74/20335
摘要： The present invention discloses a weight compensation mechanism installed at a rotatable three-degree-of-freedom link member, wherein a first rotation of the link member is a yaw rotation aligned with the direction of the gravity and second and third rotations of the link member are respectively a roll rotation and a pitch rotation, wherein the second and third rotations are restrained by a plurality of differential bevel gears, and wherein a pair of cam plates is fixed to shafts of a pair of rotary bevel gears in the plurality of differential bevel gears, and a one-degree-of-freedom weight compensator is provided to be connected to the cam plates.
摘要翻译：本发明公开了一种安装在可旋转的三自由度连杆构件上的重量补偿机构，其中连杆构件的第一旋转是与重力方向对齐的偏转旋转，连杆构件的第二和第三旋转分别是辊旋转和俯仰旋转，其中第二和第三旋转被多个差速锥齿轮约束，并且其中一对凸轮板固定到多个差速斜面中的一对旋转锥齿轮的轴齿轮和一个自由度重量补偿器连接到凸轮板上。

7. 发明申请

US20140258192A1 APPARATUS FOR TRAINING RECOGNITION CAPABILITY USING ROBOT AND METHOD FOR SAME 审中-公开
标题翻译：用于使用机器人训练识别能力的装置及其方法
公开(公告)号：US20140258192A1
公开(公告)日：2014-09-11
申请号：US14350760
申请日：2012-08-17
申请人： Mun Sang Kim , Mun Taek Choi , Sang Seok Yun , Kyoung Keun Baek , Seong Whan Lee
发明人： Mun Sang Kim , Mun Taek Choi , Sang Seok Yun , Kyoung Keun Baek , Seong Whan Lee
IPC分类号： G06N99/00
CPC分类号： G06N20/00 , G06Q50/22 , G09B19/00 , Y10S901/50
摘要： Disclosed is an apparatus for training a recognition capability by using a robot and to a method for same. Disclosed is the apparatus for training the recognition capability, according to one embodiment of the present invention, comprising: an instruction generation portion for transmitting to the robot a series of robot instructions for controlling the behavior of the robot; a sensor portion for collecting sensor information including a 3D position information and color information of a trainee; a trainee behavioral information generation portion for generating behavioral information of the trainee, based on the sensor information that is collected; and a recognition capability determination portion for outputting the recognition capability of the trainee, based on the robot instructions and the behavioral information of the trainee.
摘要翻译：公开了一种通过使用机器人来训练识别能力的装置及其方法。公开了根据本发明的一个实施例的用于训练识别能力的装置，包括：指令生成部分，用于向机器人发送一系列用于控制机器人的行为的机器人指令; 用于收集包括受训者的3D位置信息和颜色信息的传感器信息的传感器部分; 训练者行为信息生成部分，用于基于收集的传感器信息生成学员的行为信息; 以及识别能力确定部分，用于基于所述机器人指令和所述受训者的行为信息来输出所述受训者的识别能力。

8. 发明授权

US08661929B2 Device for generating stiffness and method for controlling stiffness and joint of robot manipulator comprising the same 有权
标题翻译：用于产生刚度的装置和用于控制包括该装置的机器人操纵器的刚度和接头的方法
公开(公告)号：US08661929B2
公开(公告)日：2014-03-04
申请号：US12867683
申请日：2008-03-17
申请人： Jun Ho Choi , Sung Chul Kang , Woo Sub Lee , Mun Sang Kim
发明人： Jun Ho Choi , Sung Chul Kang , Woo Sub Lee , Mun Sang Kim
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J17/00 , Y10T74/20329 , Y10T74/20341
摘要： The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.
摘要翻译：本发明涉及一种用于产生刚度的装置和一种用于控制刚度的方法，其可以通过使用弹性构件产生刚度并且可以控制刚度，以及可以应用该装置和方法的机器人操纵器的关节。用于产生刚度的装置包括旋转轴; 固定在所述旋转轴上的多个弹性部件; 分别通过其间的弹性构件彼此间隔设置的上下圆板分别通过其发电单元相对于旋转轴被驱动，并且分别具有数量相等的狭缝到弹性构件的数量; 以及分别插入形成在上下圆板中的狭缝中的多个移动构件，并且连接到弹性构件以便移动。

9. 发明申请

US20110081976A1 DEVICE FOR GENRATING LIMIT TORQUE AND ROTATING DEVICE USING THE SAME 有权
标题翻译：用于形成限制扭矩和旋转装置的装置
公开(公告)号：US20110081976A1
公开(公告)日：2011-04-07
申请号：US12995665
申请日：2008-07-22
申请人： Woo Sub Lee , Sung Chul Kang , Mun Sang Kim , Jun Ho Choi , Chang Mook Chun
发明人： Woo Sub Lee , Sung Chul Kang , Mun Sang Kim , Jun Ho Choi , Chang Mook Chun
IPC分类号： B25J19/06 , F16D7/00
CPC分类号： B25J19/06 , F16D7/10
摘要： The present invention relates to a device for generating limit torque, which generates a rotational displacement to protect a rotating device and automatically returns to the initial position when an external force is eliminated, and a rotating device using the same. The device includes a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft; an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft; and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole in which a rotational displacement is generated and through which the flexible member returns to the initial position. According to the present invention, the device for generating limit torque can generate limit torque with a relatively simple structure, and can secure stability.
摘要翻译：本发明涉及一种用于产生极限转矩的装置，其产生旋转位移以保护旋转装置，并且当外力被消除时自动返回到初始位置，以及使用其的旋转装置。该装置包括垂直连接到旋转轴的柔性构件，其长度可以相对于旋转轴在向内和向外的方向上变化; 弹性构件，其连接到所述柔性构件，并使所述柔性构件相对于所述旋转轴在向外的方向上受到弹力; 以及可旋转地连接到旋转轴并将旋转轴的旋转力传递到旋转构件的凸轮构件。凸轮构件具有其中产生旋转位移的通孔，并且柔性构件通过该通孔返回到初始位置。根据本发明，用于产生极限转矩的装置可以以相对简单的结构产生极限转矩，并且可以确保稳定性。

10. 发明申请

US20100326227A1 DEVICE FOR GENERATING STIFFNESS AND METHOD FOR CONTROLLING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME 有权
标题翻译：用于产生刚度的装置和用于控制包括其的机器人操纵器的刚度和接头的方法
公开(公告)号：US20100326227A1
公开(公告)日：2010-12-30
申请号：US12867683
申请日：2008-03-17
申请人： Jun Ho Choi , Sung Chul Kang , Woo Sub Lee , Mun Sang Kim
发明人： Jun Ho Choi , Sung Chul Kang , Woo Sub Lee , Mun Sang Kim
IPC分类号： B25J17/00 , G05G11/00
CPC分类号： B25J17/00 , Y10T74/20329 , Y10T74/20341
摘要： The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.
摘要翻译：本发明涉及一种用于产生刚度的装置和一种用于控制刚度的方法，其可以通过使用弹性构件产生刚度并且可以控制刚度，以及可以应用该装置和方法的机器人操纵器的关节。用于产生刚度的装置包括旋转轴; 固定在所述旋转轴上的多个弹性部件; 分别通过其间的弹性构件彼此间隔设置的上下圆板分别通过其发电单元相对于旋转轴被驱动，并且分别具有数量相等的狭缝到弹性构件的数量; 以及分别插入形成在上下圆板中的狭缝中的多个移动构件，并且连接到弹性构件以便移动。

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