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11. 发明授权

US08571302B2 Method and apparatus to build 3-dimensional grid map and method and apparatus to control automatic traveling apparatus using the same 有权
标题翻译：构建三维网格图的方法和装置以及使用该方法和装置来控制自动行进装置的方法和装置
公开(公告)号：US08571302B2
公开(公告)日：2013-10-29
申请号：US12411446
申请日：2009-03-26
申请人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
发明人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0251 , G05D1/0274 , G05D2201/0207 , G06T7/593 , G06T2207/30252 , G09B25/06
摘要： A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.
摘要翻译：一种构建3维网格图的方法和装置，以及使用该方法和装置控制自动行进装置的方法和装置。在建立三维地图以辨别无人驾驶车辆或移动机器人的当前位置和周边环境时，二维定位和三维图像恢复被适当地用于更快地准确地构建三维网格图。

12. 发明授权

US08271137B2 Robot and method of controlling the same 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08271137B2
公开(公告)日：2012-09-18
申请号：US12585188
申请日：2009-09-08
申请人： Kyung Won Moon , Kyung Shik Roh , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： B25J19/06 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1674 , B25J13/085
摘要： There is provided a robot, which compensates for the angle of a joint, bent due to external force, using a redundant degree of freedom of the robot, and a method of controlling the same. The method includes sensing a bending angle of a joint due to external force or a torque applied to the joint, comparing the bending angle of the joint or the torque applied to the joint with an allowable safety reference value; and adjusting the bending angle of a higher-level joint of the joint using a redundant degree of freedom of the robot, when the bending angle or the torque reaches the allowable safety reference value, thereby compensating for the excessively bending angle of the joint and thus being capable of safely controlling the robot.
摘要翻译：提供了一种机器人，其利用机器人的冗余自由度来补偿由于外力而弯曲的关节的角度及其控制方法。该方法包括：检测由于外力或接头施加的扭矩引起的接头的弯曲角度，将接头的弯曲角度或施加到接头处的扭矩进行比较和允许的安全参考值; 并且当弯曲角度或扭矩达到允许的安全参考值时，使用机器人的冗余自由度来调节接头的上级接头的弯曲角度，从而补偿接头的过度弯曲角度，从而能够安全地控制机器人。

13. 发明申请

US20110199338A1 TOUCH SCREEN APPARATUS AND METHOD FOR INPUTTING USER INFORMATION ON A SCREEN THROUGH CONTEXT AWARENESS 审中-公开
标题翻译：触摸屏设备和方法，用于通过上下文的意识输入屏幕上的用户信息
公开(公告)号：US20110199338A1
公开(公告)日：2011-08-18
申请号：US13063197
申请日：2009-08-11
申请人： Hyun Kyu Kim
发明人： Hyun Kyu Kim
IPC分类号： G06F3/042
CPC分类号： G06F3/042 , G06F3/0418 , G06F3/0425 , G06F2203/04109
摘要： The present invention provides a touch screen apparatus comprising a first light emitting unit for generating an optical signal for performing non-touch sensing, a second light emitting unit for generating an optical signal for performing touch sensing together with the non-touch sensing, an optical guide unit for guiding light emitted from the second light emitting unit, and a light receiving unit for receiving light emitted and changed by an object. Further, the present invention provides a method for inputting user information on a screen through context awareness, which can input user information in an accurate and convenient manner on the screen through the awareness of a variety of user contexts, and which can effectively prevent an erroneous operation caused by a contact of the palm of the user by ignoring the contact coordinates input by a means other than the finger of the user on the screen.
摘要翻译：本发明提供了一种触摸屏设备，包括用于产生用于执行非触摸感测的光信号的第一发光单元，用于产生用于与非触摸感测一起进行触摸感测的光信号的第二发光单元，光学引导单元，用于引导从第二发光单元发射的光;以及光接收单元，用于接收由对象发射和改变的光。此外，本发明提供一种通过上下文感知在屏幕上输入用户信息的方法，其可以通过各种用户上下文的意识以准确和方便的方式在屏幕上输入用户信息，并且可以有效地防止错误通过忽略由屏幕上的用户的手指以外的手段输入的接触坐标，由用户的手掌接触引起的操作。

14. 发明申请

US20090299523A1 Walking robot and method of controlling the same 审中-公开
标题翻译：步行机器人及其控制方法
公开(公告)号：US20090299523A1
公开(公告)日：2009-12-03
申请号：US12382059
申请日：2009-03-06
申请人： Hyun Kyu Kim , Woong Kwon , Suk June Yoon , Kyung Shik Roh
发明人： Hyun Kyu Kim , Woong Kwon , Suk June Yoon , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： Disclosed are a biped walking robot, which carries out walking with a high energy efficiency through adjustment of the stiffnesses of joints of legs and improves walking stability through control of the pose of a torso, and a method of controlling the walking robot. The method includes generating a walking pattern of plural legs connected to a torso of the walking robot; adjusting stiffness of each of the plural legs interlocking with walking phases of the plural legs driven according to the walking pattern; and measuring a tilt of the torso, and compensating for the tilt of the torso such that the torso is parallel with the gravity direction.
摘要翻译：公开了一种双足步行机器人，其通过调节腿部关节的刚度而以高能量效率进行行走，并且通过控制躯干的姿势来提高步行稳定性，以及控制步行机器人的方法。该方法包括生成与步行机器人的躯体连接的多条腿的步行图案; 调节与根据步行图案驱动的多个腿的行走相互联动的多个腿中的每一个的刚度; 并测量躯干的倾斜，并且补偿躯干的倾斜，使得躯干与重力方向平行。

15. 发明申请

US20070027240A1 Diethyleneglycol ester based plasticizer composition and polyvinyl chloride resin using the same 审中-公开
标题翻译：基于二乙二醇酯的增塑剂组合物和使用其的聚氯乙烯树脂
公开(公告)号：US20070027240A1
公开(公告)日：2007-02-01
申请号：US10570960
申请日：2004-09-09
申请人： Kye-Seok Lee , Kyu-Il Lee , Hyun-Kyu Kim , Chil-Eui Hong , Dong-Hwa Gong , Hyun-Ju Kim
发明人： Kye-Seok Lee , Kyu-Il Lee , Hyun-Kyu Kim , Chil-Eui Hong , Dong-Hwa Gong , Hyun-Ju Kim
IPC分类号： C08F14/06 , C07C69/76 , C08K5/17
CPC分类号： C08K5/12 , C07C69/28 , C07C69/78 , C08F14/06 , C08K5/103 , C08F2/00 , C08L27/06 , C08L67/02
摘要： The present invention relates to a diethylene glycol ester based plasticizer composition comprising at least two diethylene glycol ester compounds. The diethylene glycol ester based plasticizer composition of the present invention offers superior tensile strength, elongation, transfer resistance, hardness, transparency, adhesivity, and compatibility with resin, when used for a plasticizer of a polyvinyl chloride resin, without releasing environmental hormones. Thus, it can be used for a polyvinyl chloride resin of a warp film.
摘要翻译：本发明涉及包含至少两种二甘醇酯化合物的二甘醇酯类增塑剂组合物。当用于聚氯乙烯树脂的增塑剂时，本发明的二甘醇酯类增塑剂组合物在不释放环境激素的情况下，具有优异的拉伸强度，伸长率，转印阻力，硬度，透明度，粘合性和与树脂的相容性。因此，可以用于经纱的聚氯乙烯树脂。

16. 发明申请

US20130317253A1 PROCESS FOR CONTINUOUS RECOVERING (METH) ACRYLIC ACID AND APPARATUS FOR THE PROCESS (AS AMENDED) 有权
标题翻译：连续回收（甲基）丙烯酸的方法和方法（如修订）
公开(公告)号：US20130317253A1
公开(公告)日：2013-11-28
申请号：US13953599
申请日：2013-07-29
申请人： Se-Won Baek , Hyun-Kyu Kim , Dong-Hyun Cho , Jun-Seok Ko
发明人： Se-Won Baek , Hyun-Kyu Kim , Dong-Hyun Cho , Jun-Seok Ko
IPC分类号： C07C51/42
CPC分类号： C07C51/44 , B01D3/009 , C07C51/16 , C07C51/252 , C07C51/42 , C07C57/04
摘要： The present invention relates to a method and apparatus for continuous recovery of (meth)acrylic acid, and more specifically to a method of continuous recovery of (meth)acrylic acid, including: conducting gas phase oxidation of at least one compound selected from the group consisting of propane, propylene, butane, i-butylene, t-butylene, and (meth)acrolein in the presence of a catalyst to obtain a mixed gas containing (meth)acrylic acid; quenching the (meth)acrylic acid-containing mixed gas to remove high boiling point by-products in the (meth)acrylic acid-containing mixed gas; contacting the high boiling point by-product-free (meth)acrylic acid-containing mixed gas with water or an aqueous solution to obtain an aqueous solution containing (meth)acrylic acid; and purifying the aqueous solution containing (meth)acrylic acid to obtain (meth)acrylic acid.The continuous recovery method of (meth)acrylic acid according to the present invention may significantly reduce energy consumption and continuously recover high purity (meth)acrylic acid with excellent production efficiency compared to the previous recovery methods.
摘要翻译：本发明涉及一种连续回收（甲基）丙烯酸的方法和装置，更具体地涉及一种连续回收（甲基）丙烯酸的方法，包括：进行至少一种选自以下的化合物的气相氧化：在催化剂存在下由丙烷，丙烯，丁烷，异丁烯，叔丁烯和（甲基）丙烯醛组成，得到含（甲基）丙烯酸的混合气体; 淬灭含（甲基）丙烯酸的混合气体以除去含（甲基）丙烯酸的混合气体中的高沸点副产物; 使高沸点副产物（甲基）丙烯酸混合气体与水或水溶液接触，得到含有（甲基）丙烯酸的水溶液; 并纯化含有（甲基）丙烯酸的水溶液，得到（甲基）丙烯酸。与先前的回收方法相比，本发明的（甲基）丙烯酸的连续回收方法可以显着降低能量消耗，并以优异的生产效率连续回收高纯度（甲基）丙烯酸。

17. 发明授权

US08346393B2 Control apparatus of multi-finger hand and grasping method using the same 有权
标题翻译：多指手掌控制装置及其使用方法
公开(公告)号：US08346393B2
公开(公告)日：2013-01-01
申请号：US12654166
申请日：2009-12-11
申请人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
发明人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
IPC分类号： B25J15/08 , G05D17/02
CPC分类号： B25J9/1612 , G05B2219/39524
摘要： A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.
摘要翻译：一种多指手指的握持方法，包括计算多个实际手指的尖端的位置; 使用所计算的多个实际手指的尖端的位置来计算多个虚拟手指的尖端的位置; 根据计算出的多个虚拟手指的尖端的位置，判断所述多个虚拟手指的前端的计算位置的中心位置是虚拟对象的中心位置; 并且控制对应于虚拟指尖的相应实际手指的关节扭矩，使得多个虚拟手指的尖端的运动被执行，同时基于中心来均匀地保持多个虚拟手指的尖端的相对位置关系虚拟对象的位置。

18. 发明授权

US08315737B2 Apparatus for locating moving robot and method for the same 有权
标题翻译：用于定位移动机器人的装置及其方法
公开(公告)号：US08315737B2
公开(公告)日：2012-11-20
申请号：US12379433
申请日：2009-02-20
申请人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
发明人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
IPC分类号： G05B19/18
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
摘要翻译：公开了一种定位移动机器人的装置和方法。该装置包括存储单元，其存储在地图上的直线上的信息，状态量检测单元检测沿壁行进的机器人的状态量，以及控制单元，通过获得直线信息来估计机器人的内部位置基于检测到的状态量，并将获得的直线信息与所存储的直线信息进行匹配。

19. 发明授权

US08021071B2 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US08021071B2
公开(公告)日：2011-09-20
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
IPC分类号： F16D7/00
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

20. 发明申请

US20110079713A1 UNI-AXIS TYPE LENS MODULE FOR THERMAL IMAGING CAMERA 审中-公开
标题翻译：用于热成像摄像机的单轴型透镜模块
公开(公告)号：US20110079713A1
公开(公告)日：2011-04-07
申请号：US12783254
申请日：2010-05-19
申请人： Hyun-Kyu Kim , Chang-Min Ok
发明人： Hyun-Kyu Kim , Chang-Min Ok
IPC分类号： H01L31/0232 , G01J5/08
CPC分类号： H01L27/14625 , G01J3/02 , G01J3/0208 , G01J3/36 , G01J5/0806 , G02B13/146 , G02B27/1066
摘要： Disclosed herein is a Uni-axis type lens module for a thermal imaging camera. The Uni-axis type lens module includes an object lens facing an object, receiving light from the object to capture an image of the object and transmitting visible rays and far infrared rays through one optical axis to integrate the visible rays and the far infrared rays; a beam splitter located behind the object lens in the direction of the optical axis, reflecting far infrared rays from lights that pass through the object lens and transmitting visible rays from the lights; a far-infrared imaging lens located in the direction of the optical axis of the far infrared rays reflected from the beam splitter, receiving the far infrared rays that reflect from a fold mirror and forming an image on a far-infrared sensor that converts an optical image into a thermal image signal; and a visible light imaging sensor located in the direction of the optical axis of the visible rays that pass through the beam splitter, arranged behind the beam splitter, receiving the visible rays that pass through the beam splitter and forming an image on a CCD sensor that converts an optical image into an actual image signal. Accordingly, images of visible rays and far infrared rays can be simultaneously captured to acquire distinct images.
摘要翻译：这里公开了用于热成像相机的单轴型透镜模块。单轴型透镜模块包括面向物体的物镜，接收来自物体的光以捕获物体的图像，并且通过一个光轴透射可见光和远红外线以集成可见光和远红外线; 在光轴方向上位于物镜后面的光束分离器，将远红外线反射到穿过物镜的光线上，并从光线上传出可见光线; 远红外成像透镜，位于从分束器反射的远红外线的光轴方向上，接收从折射镜反射的远红外线，并在远红外线传感器上形成图像，该远红外传感器将光学转换图像变成热图像信号; 以及可见光成像传感器，其位于穿过分束器的可见光线的光轴的方向上，布置在分束器后面，接收通过分束器的可见光线，并在CCD传感器上形成图像，将光学图像转换为实际图像信号。因此，可以同时捕获可见光和远红外线的图像以获得不同的图像。

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