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1. 发明申请

US20100121488A1 METHOD AND SYSTEM FOR CREATING INDOOR ENVIRONMENT MAP 有权
标题翻译：用于创建室内环境地图的方法和系统
公开(公告)号：US20100121488A1
公开(公告)日：2010-05-13
申请号：US12692113
申请日：2010-01-22
申请人： Yu-Cheol LEE , Sang Ik Na , Won Pil Yu , Kyu Seo Han
发明人： Yu-Cheol LEE , Sang Ik Na , Won Pil Yu , Kyu Seo Han
IPC分类号： G06F19/00
CPC分类号： G05D1/0274 , G01C21/32 , G05D1/0231 , G05D1/024 , G05D1/0272 , G05D2201/0203
摘要： A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.
摘要翻译：创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息预测移动单元的位置，获取从移动单元到使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与测量距离，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

2. 发明授权

US09310807B2 Method and system for creating indoor environment map 有权
标题翻译：制作室内环境图的方法和系统
公开(公告)号：US09310807B2
公开(公告)日：2016-04-12
申请号：US12692113
申请日：2010-01-22
申请人： Yu-Cheol Lee , Sang Ik Na , Won Pil Yu , Kyu Seo Han
发明人： Yu-Cheol Lee , Sang Ik Na , Won Pil Yu , Kyu Seo Han
IPC分类号： G01C21/32 , G01S3/78 , G05D1/02 , B25J5/00
CPC分类号： G05D1/0274 , G01C21/32 , G05D1/0231 , G05D1/024 , G05D1/0272 , G05D2201/0203
摘要： A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.
摘要翻译：创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息预测移动单元的位置，获取从移动单元到使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与测量距离，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

3. 发明授权

US07681464B2 Apparatus for detecting the movement of its embedded attaching means 有权
标题翻译：用于检测其嵌入式连接装置的运动的装置
公开(公告)号：US07681464B2
公开(公告)日：2010-03-23
申请号：US11989609
申请日：2006-07-28
申请人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
发明人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
IPC分类号： G01L1/26
CPC分类号： A63H11/00 , A63H17/36 , A63H2200/00 , G01B21/32
摘要： Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector. When the connector such as a cable is pulled, the detecting apparatus detects information about the pulling conditions of the cable. Therefore, when a user walks with a dog robot by holding the cable of the detecting apparatus attached to the dog robot, the detecting apparatus provides information about the cable-holding conditions to inform the dog robot of user's intention, so that the dog robot can follow the user according to the user's intention. Thus, automatically-movable devices such as the dog robot can be conveniently used by employing the detecting apparatus since the detecting apparatus provides information about user's intention to the devices.
摘要翻译：提供一种用于检测连接器的张力，移动方向和长度的装置。检测装置包括连接器，其包括连接在运动检测装置内的一端和设置在运动检测装置的外侧的另一端;张力检测器，通过检测施加到连接器的参数的微小变化来测量施加到连接器的张力当连接器的另一端从运动检测装置被拉开时的张力检测器;方向检测器，测量连接器在基本上垂直于张力的平面中的水平和垂直方向上的运动，以便检测拉力的方向并且长度检测器通过施加到连接器的张力来检测从运动检测装置延伸的连接器的长度。当拉出诸如电缆的连接器时，检测装置检测关于电缆的拉动状况的信息。因此，当用户通过握住安装在狗机器人上的检测装置的电缆来行走狗机器人时，检测装置提供关于电缆保持条件的信息以通知狗机器人的用户意图，使得狗机器人按照用户的意图跟随用户。因此，由于检测装置向装置提供关于用户的意图的信息，所以可以通过采用检测装置方便地使用诸如狗机器人的自动移动装置。

4. 发明申请

US20090031823A1 Apparatus for Detecting the Movement of Its Embedded Attaching Means 有权
标题翻译：用于检测其嵌入式装置的运动的装置
公开(公告)号：US20090031823A1
公开(公告)日：2009-02-05
申请号：US11989609
申请日：2006-07-28
申请人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
发明人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
IPC分类号： G01L5/04
CPC分类号： A63H11/00 , A63H17/36 , A63H2200/00 , G01B21/32
摘要： Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector. When the connector such as a cable is pulled, the detecting apparatus detects information about the pulling conditions of the cable. Therefore, when a user walks with a dog robot by holding the cable of the detecting apparatus attached to the dog robot, the detecting apparatus provides information about the cable-holding conditions to inform the dog robot of user's intention, so that the dog robot can follow the user according to the user's intention. Thus, automatically-movable devices such as the dog robot can be conveniently used by employing the detecting apparatus since the detecting apparatus provides information about user's intention to the devices.
摘要翻译：提供一种用于检测连接器的张力，移动方向和长度的装置。检测装置包括连接器，其包括连接在运动检测装置内的一端和设置在运动检测装置的外侧的另一端;张力检测器，通过检测施加到连接器的参数的微小变化来测量施加到连接器的张力当连接器的另一端从运动检测装置被拉开时的张力检测器;方向检测器，测量连接器在基本上垂直于张力的平面中的水平和垂直方向上的运动，以便检测拉力的方向并且长度检测器通过施加到连接器的张力来检测从运动检测装置延伸的连接器的长度。当拉出诸如电缆的连接器时，检测装置检测关于电缆的拉动状况的信息。因此，当用户通过握住安装在狗机器人上的检测装置的电缆来行走狗机器人时，检测装置提供关于电缆保持条件的信息以通知狗机器人的用户意图，使得狗机器人按照用户的意图跟随用户。因此，由于检测装置向装置提供关于用户的意图的信息，所以可以通过采用检测装置方便地使用诸如狗机器人的自动移动装置。

5. 发明申请

US20100049366A1 SURROUNDINGS MAPPING APPARATUS CAPABLE OF APPLYING QUICKLY CHANGED SURROUNDINGS INFORMATION IN MOBILE ROBOT AND METHOD THEREOF 审中-公开
标题翻译：能够在移动机器人中应用快速变化的环境的环境映射设备及其方法
公开(公告)号：US20100049366A1
公开(公告)日：2010-02-25
申请号：US12518245
申请日：2007-11-30
申请人： Yu Cheol Lee , Won Pil Yu , Sang Ik Na , Hyo Sung Ahn
发明人： Yu Cheol Lee , Won Pil Yu , Sang Ik Na , Hyo Sung Ahn
IPC分类号： G06F19/00
CPC分类号： G05D1/0274 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0207
摘要： A method of responding to environmental change to build an environment map of a mobile apparatus and an apparatus thereof are disclosed. The apparatus includes a traveling unit traveling a mobile apparatus according to a command, a distance measuring unit measuring a distance from the mobile apparatus to a moving object, an environment map-generating unit generating an environment map based on a measured distance, a moving object detecting unit detecting the moving object moved after generating the environment map by comparing a distance from the mobile apparatus to the moving object with the newly measured distance, and a controlling unit updating the environment map according to the command by selectively applying changed environment information containing the moving object to the built environment map when the moving object is detected. Thus, the changed environmental information can be rapidly and precisely applied to build the environment map.
摘要翻译：公开了一种应对环境变化以构建移动装置的环境地图及其装置的方法。该装置包括根据命令行进移动装置的移动单元，测量从移动装置到移动物体的距离的距离测量单元，基于测量距离生成环境地图的环境地图生成单元，移动物体检测单元，通过利用新测量的距离比较从移动设备到移动物体的距离来检测在产生环境地图之后移动的移动物体;以及控制单元，通过选择性地应用改变的环境信息来选择性地应用包含当检测到移动物体时将物体移动到建筑物环境地图。因此，可以快速，准确地应用改变的环境信息来构建环境图。

6. 发明申请

US20080294338A1 Method of Mapping and Navigating Mobile Robot by Artificial Landmark and Local Coordinate 审中-公开
标题翻译：通过人工地标和局部坐标绘制和浏览移动机器人的方法
公开(公告)号：US20080294338A1
公开(公告)日：2008-11-27
申请号：US12091994
申请日：2006-07-26
申请人： Nakju Doh , Won Pil Yu , Sang Ik Na
发明人： Nakju Doh , Won Pil Yu , Sang Ik Na
IPC分类号： B25J9/16
CPC分类号： G05D1/0274 , G05D1/0234 , G05D1/024 , G05D1/0255 , G05D2201/0203
摘要： A method of mapping and navigating a mobile robot by an artificial landmark and a local coordinate is provided. The method of creating a map includes: a) recognizing an artificial landmark in a target space and defining the recognized artificial landmark as a predetermined node; b) defining an adjacent artificial landmark as a destination node while traveling to the adjacent artificial landmark; c) defining the recognized artificial landmark as an origin of a local coordinate, defining a coordinate axis provided from the predetermined artificial landmark as a coordinate axis of the origin, obtaining and storing information about the predetermined node, the destination node, and an edge connecting the predetermined node and the destination node; and d) creating a map by storing information about edges between each of nodes to an adjacent node for all of the artificial landmarks through repeatedly performing the steps b) and c).
摘要翻译：提供了一种通过人造地标和局部坐标映射和导航移动机器人的方法。创建地图的方法包括：a）识别目标空间中的人造地标并将所识别的人造地标定义为预定节点; b）在行进到相邻的人造地标时定义相邻的人造地标作为目的地节点; c）将所识别的人造地标定义为局部坐标的原点，将从预定人造地标提供的坐标轴定义为原点的坐标轴，获得并存储关于预定节点，目的地节点和边缘连接的信息预定节点和目的节点; 以及d）通过重复执行步骤b）和c），通过将关于每个节点之间的边缘的信息存储到所有人造地标的相邻节点来创建地图。

7. 发明申请

US20090164044A1 LOCALIAZATION SERVICE FRAMEWORK FOR ESTIMATING ROBOT POSITION AND METHOD THEREFOR 审中-公开
标题翻译：用于估计机器人位置的局部定位服务框架及其方法
公开(公告)号：US20090164044A1
公开(公告)日：2009-06-25
申请号：US12171333
申请日：2008-07-11
申请人： Kyu Seo Han , Won Pil Yu
发明人： Kyu Seo Han , Won Pil Yu
IPC分类号： G06F17/00
CPC分类号： G01S5/0036
摘要： A localization service framework for estimating a position of a robot includes a plurality of sensors, a sensor property based localization module connected to the plurality of sensors for converting sensor data sensed by the sensors into position data of the sensors on a basis of the properties of the sensors, respectively, in response to the request of position information of the robot, and a position information combining module for combining the position data of the sensors to obtain position information of the robot, the position information of the robot being provided to the application through the localization service interface.
摘要翻译：用于估计机器人位置的定位服务框架包括多个传感器，连接到多个传感器的基于传感器属性的定位模块，用于将传感器感测的传感器数据转换为传感器的位置数据，所述传感器分别响应于所述机器人的位置信息的请求，以及位置信息组合模块，用于组合所述传感器的位置数据以获得所述机器人的位置信息，所述机器人的位置信息被提供给所述应用通过本地化服务界面。

8. 发明授权

US09098088B2 Method for building outdoor map for moving object and apparatus thereof 有权
标题翻译：移动物体户外地图建立方法及其装置
公开(公告)号：US09098088B2
公开(公告)日：2015-08-04
申请号：US13335871
申请日：2011-12-22
申请人： Yu Cheol Lee , Jae Yeong Lee , Won Pil Yu
发明人： Yu Cheol Lee , Jae Yeong Lee , Won Pil Yu
IPC分类号： G06K9/00 , G05D1/02 , G09B29/10
CPC分类号： G05D1/0278 , G05D1/0274 , G05D2201/0213 , G06K9/00651 , G06K9/00697 , G09B29/10
摘要： The method for building an outdoor map for a moving object according to an exemplary embodiment of the present invention includes: receiving a real satellite image for an outdoor space to which the moving object is to move; calculating pixel information including sizes of length and width pixels and a physical distance of one pixel in the real satellite image; measuring a reference position coordinate for a reference position selected from the real satellite image; and linking a pixel number corresponding to the reference position, the reference position coordinate, and the pixel information to the real satellite image in order to build the outdoor map for the moving object, and further includes creating information on a road network in which the moving object navigates based on the pixel number corresponding to the reference position, the reference position coordinate, and the pixel information.
摘要翻译：根据本发明的示例性实施例的用于构建移动物体的户外地图的方法包括：接收移动物体要移动的室外空间的真实卫星图像; 计算包括实际卫星图像中的一个像素的长度和宽度像素的尺寸和物理距离的像素信息; 测量从真实卫星图像中选择的参考位置的参考位置坐标; 以及将与基准位置相对应的像素数，参考位置坐标和像素信息链接到真实卫星图像，以构建移动物体的室外地图，并且还包括在其中移动的道路网络上创建信息基于对应于参考位置，参考位置坐标和像素信息的像素数，物体导航。

9. 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。

10. 发明授权

US07072513B2 Method of segmenting handwritten touching numeral strings having non-vertical segmentation line 有权
标题翻译：分割具有非垂直分割线的手写触摸数字串的方法
公开(公告)号：US07072513B2
公开(公告)日：2006-07-04
申请号：US10359710
申请日：2003-02-07
申请人： Kye Kyung Kim , Yun Koo Chung , Su Young Chi , Won Pil Yu , Hyoung Gu Lee , Soo Hyun Cho
发明人： Kye Kyung Kim , Yun Koo Chung , Su Young Chi , Won Pil Yu , Hyoung Gu Lee , Soo Hyun Cho
IPC分类号： G06K9/34
CPC分类号： G06K9/342 , G06K2209/01
摘要： Disclosed is a method of segmenting handwritten touching numeral strings having a non-vertical segmentation line. The method comprises the steps of: receiving an image of the handwritten touching numeral strings having the non-vertical segmentation line extracted from a specially patterned document; smoothing an uneven shape of the image of handwritten touching numeral strings; searching a contour line for the image of smoothed handwritten touching numeral strings; searching a candidate segmentation region, in which the touching numeral strings may exist, from the searched contour line; searching a candidate segmentation point within the candidate segmentation region; searching a vertical segmentation line for segmenting the handwritten touching numeral strings from the candidate segmentation point; searching the non-vertical segmentation line for segmenting the handwritten touching numeral strings having any inclination from the candidate segmentation lines; and segmenting the handwritten touching numeral strings by use of the vertical and non-vertical segmentation lines.
摘要翻译：公开了一种分割具有非垂直分割线的手写触摸数字串的方法。该方法包括以下步骤：接收具有从特殊图案化文档提取的非垂直分割线的手写触摸数字串的图像; 平滑手写触摸数字串的图像的不均匀形状; 搜索平滑的手写触摸数字字符串的图像的轮廓线; 从搜索到的轮廓线中搜索可能存在触摸数字串的候选分割区域; 搜索候选分割区域内的候选分割点; 搜索垂直分割线以从候选分割点分割手写的触摸数字串; 搜索所述非垂直分割线以从所述候选分割线分割具有任何倾斜度的手写触摸数字串; 并且通过使用垂直和非垂直分割线来分割手写的触摸数字串。

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