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1. 发明授权

US08676380B2 Moving robot and operating method for same 有权
标题翻译：移动机器人和操作方法相同
公开(公告)号：US08676380B2
公开(公告)日：2014-03-18
申请号：US12594451
申请日：2008-04-03
申请人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
发明人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
IPC分类号： G05B19/04 , G06F19/00
CPC分类号： G05D1/0253 , G05D1/0225 , G05D2201/0203
摘要： There are provided a moving robot and a method of operating the same. A bottom surface is photographed to sense a moving distance and a moving direction based on input image data. The amount of light radiated to photograph the bottom surface is sensed to feedback control the light emission degree of a light source unit. The light source unit is controlled when errors are generated in sensing the image data. Therefore, the sensing ratio of the photographed image is improved so that correctness of calculating the position of the moving robot is improved.
摘要翻译：提供了一种移动机器人及其操作方法。基于输入图像数据拍摄底面以感测移动距离和移动方向。检测照射底面的光量，反馈控制光源单元的发光度。在感测图像数据时产生错误时控制光源单元。因此，提高了拍摄图像的感测比，从而提高了运动机器人的位置的计算的正确性。

2. 发明申请

US20100268385A1 MOVING ROBOT AND OPERATING METHOD FOR SAME 有权
标题翻译：移动机器人和操作方法
公开(公告)号：US20100268385A1
公开(公告)日：2010-10-21
申请号：US12594451
申请日：2008-04-03
申请人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
发明人： Ho Seon Rew , Jeong Suk Yoon , Young Gyu Jung
IPC分类号： G06F7/00
CPC分类号： G05D1/0253 , G05D1/0225 , G05D2201/0203
摘要： There are provided a moving robot and a method of operating the same. A bottom surface is photographed to sense a moving distance and a moving direction based on input image data. The amount of light radiated to photograph the bottom surface is sensed to feedback control the light emission degree of a light source unit. The light source unit is controlled when errors are generated in sensing the image data. Therefore, the sensing ratio of the photographed image is improved so that correctness of calculating the position of the moving robot is improved.
摘要翻译：提供了一种移动机器人及其操作方法。基于输入图像数据拍摄底面以感测移动距离和移动方向。检测照射底面的光量，反馈控制光源单元的发光度。在感测图像数据时产生错误时控制光源单元。因此，提高了拍摄图像的感测比，从而提高了运动机器人的位置的计算的正确性。

3. 发明授权

US07379195B2 Device for the detection of an object on a vehicle seat 有权
标题翻译：用于检测车辆座椅上的物体的装置
公开(公告)号：US07379195B2
公开(公告)日：2008-05-27
申请号：US11713699
申请日：2007-03-05
申请人： Jason Jeong-Suk Yoon , Stefan Weidhaas , Michael Bauer
发明人： Jason Jeong-Suk Yoon , Stefan Weidhaas , Michael Bauer
IPC分类号： G01B11/14
CPC分类号： B60R21/01538 , B60R21/01556 , G06K9/00362 , G06T7/586 , G06T2207/30268
摘要： A device for the detection of an object on a vehicle seat, including a camera and a processing unit for the generation of a two-dimensional representation of the object is provided. The device also includes at least two illumination sources, which are positioned in such a manner that the object can be illuminated from different directions, and the processing unit is suitable to generate a three-dimensional representation of the object from two dimensional representations, each generated under different illumination conditions.
摘要翻译：提供了一种用于检测车辆座椅上的物体的装置，包括相机和用于产生物体的二维表示的处理单元。该装置还包括至少两个照明源，其以使得物体可以从不同方向被照射的方式定位，并且处理单元适于从二维表示生成物体的三维表示，每个表示生成在不同的照明条件下。

4. 发明授权

US07362882B2 Method and device for compensating for shadows in digital images 有权
标题翻译：用于补偿数字图像中的阴影的方法和装置
公开(公告)号：US07362882B2
公开(公告)日：2008-04-22
申请号：US11119476
申请日：2005-05-02
申请人： Lutz Eisenmann , Carsten Koch , Jason Jeong-Suk Yoon
发明人： Lutz Eisenmann , Carsten Koch , Jason Jeong-Suk Yoon
IPC分类号： G06K9/00
CPC分类号： G01S17/026 , G06T5/50 , G06T7/0002
摘要： The invention relates to a method for generating a computed digital image of a scene, which can be illuminated with different luminous intensities at a first illumination angle by a first light source. An image sensor records a number of individual images of the scene under different lighting conditions, and these images are set against one another in a pixel-by-pixel manner in a data processing device in order to generate a resulting image. The invention is characterized in that at least one additional light source is provided by means of which the scene can be illuminated at an illumination angle that is different from the illumination angle of the first light source. The different lighting conditions when recording the individual images are obtained by various combinations of luminous intensities of the first and of the at least one other additional light source. The invention also relates to a device for carrying out the inventive method.
摘要翻译：本发明涉及一种用于产生场景的计算数字图像的方法，该方法可以由第一光源以第一照明角度的不同发光强度照亮。图像传感器在不同的照明条件下记录场景的多个图像，并且在数据处理装置中以像素为单位将这些图像彼此相对设置，以便生成结果图像。本发明的特征在于，提供至少一个附加光源，利用该附加光源可以以不同于第一光源的照明角度的照明角照射场景。记录各个图像时的不同的照明条件是通过第一和另外另外一个附加光源的发光强度的各种组合来获得的。本发明还涉及一种用于实施本发明的方法的装置。

5. 发明申请

US20100228394A1 MOBILE ROBOT AND CONTROLLING METHOD OF THE SAME 有权
标题翻译：移动机器人及其控制方法
公开(公告)号：US20100228394A1
公开(公告)日：2010-09-09
申请号：US12718380
申请日：2010-03-05
申请人： Dong Hoon YI , Young Gie KIM , Jeong Suk YOON , Seong Soo LEE , Jei Hun LEE , Seung Min BAEK , Yoo Jin CHOI , Sang IK NA , Su Uk CHOE , Yie Bin KIM
发明人： Dong Hoon YI , Young Gie KIM , Jeong Suk YOON , Seong Soo LEE , Jei Hun LEE , Seung Min BAEK , Yoo Jin CHOI , Sang IK NA , Su Uk CHOE , Yie Bin KIM
IPC分类号： G05D1/02 , G05B19/00 , G06F19/00
CPC分类号： G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
摘要： Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
摘要翻译：公开了一种移动机器人及其控制方法。整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。然后，将地图补偿为闭合的曲线，从而制作整个地图。此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及从清洁过程中捕获的图像中提取特征点。

6. 发明授权

US09060658B2 Mobile robot with single camera and method for recognizing 3D surroundings of the same 有权
标题翻译：具有单摄像头的移动机器人和识别3D环境的方法
公开(公告)号：US09060658B2
公开(公告)日：2015-06-23
申请号：US13262192
申请日：2010-03-12
申请人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
发明人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC分类号： G06K9/00 , A47L9/00 , G01S15/93 , G05D1/02
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其周围的3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

7. 发明授权

US08798792B2 Detecting apparatus of robot cleaner and controlling method of robot cleaner 有权
标题翻译：机器人清洁器检测装置及机器人清洁器控制方法
公开(公告)号：US08798792B2
公开(公告)日：2014-08-05
申请号：US12740535
申请日：2008-10-24
申请人： Dong-Woo Park , Sung-Woon Kim , Dong-Hoon Yi , Jeong-Suk Yoon , Jong-Il Park , Hyoung-Hwa Yoon
发明人： Dong-Woo Park , Sung-Woon Kim , Dong-Hoon Yi , Jeong-Suk Yoon , Jong-Il Park , Hyoung-Hwa Yoon
IPC分类号： G05B15/00
CPC分类号： G05D1/0219 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0255 , G05D1/027 , G05D2201/0203
摘要： A method for controlling a robot cleaner includes: detecting a cleaning target space, setting a cleaning region within the detected cleaning space and cleaning the set cleaning region; if the set cleaning region is completely cleaned, moving to a not-yet-cleaned region adjacent to a cleaning completion spot of the cleaning region; and setting a new cleaning region in the not-yet-cleaned region and performing cleaning. Without repeating a cleaning region in the cleaning target space, the robot cleaner can extend its cleaning region, so the cleaning efficiency of the robot cleaner can be improved. Also, the robot cleaner can be smoothly enter a new cleaning target space or released therefrom. In particular, even when the entrance of the new cleaning target space is narrow, the robot cleaner can smoothly enter the new cleaning target space and gets out thereof.
摘要翻译：一种用于控制机器人清洁器的方法包括：检测清洁目标空间，设置检测到的清洁空间内的清洁区域并清洁设置的清洁区域; 如果设置的清洁区域被完全清洁，移动到与清洁区域的清洁完成点相邻的尚未清洁的区域; 并且在尚未清洁的区域中设置新的清洁区域并进行清洁。机器人清洁器不会在清洁目标空间中重复清洁区域，所以能够延长其清洁区域，从而可以提高机器人清洁器的清洁效率。此外，机器人清洁器可以顺利地进入新的清洁目标空间或从其中释放。特别是，即使新的清洁对象空间的入口狭窄，机器人清洁器也可以平稳地进入新的清洁对象空间并离开。

8. 发明申请

US20120019627A1 MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 有权
标题翻译：具有单个摄像机的移动机器人和用于识别其中的3D环绕的方法
公开(公告)号：US20120019627A1
公开(公告)日：2012-01-26
申请号：US13262192
申请日：2010-03-12
申请人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
发明人： Yoo-Jin Choi , Young-Gie Kim , Jeong-Suk Yoon , Seong-Soo Lee , Yie-Bin Kim , Seung-Min Baek , Sang-Ik Na , Su-Uk Choe , Dong-Hoon Yi , Jei-Hun Lee
IPC分类号： H04N13/02
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围环境进行清洁处理的单个摄像机的移动机器人，并且能够更准确地制作包括多个特征点的周围环境的3D地图，以及用于识别其中的3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

9. 发明申请

US20110098853A1 DETECTING APPARATUS OF ROBOT CLEANER AND CONTROLLING METHOD OF ROBOT CLEANER 有权
标题翻译：机器清洁器的检测装置和机器人清洁器的控制方法
公开(公告)号：US20110098853A1
公开(公告)日：2011-04-28
申请号：US12740535
申请日：2008-10-24
申请人： Dong-Woo Park , Sung-Woon Kim , Dong-Hoon YI , Jeong-Suk Yoon , Jong-II Park , Hyoung-Hwa Yoon
发明人： Dong-Woo Park , Sung-Woon Kim , Dong-Hoon YI , Jeong-Suk Yoon , Jong-II Park , Hyoung-Hwa Yoon
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： G05D1/0219 , A47L2201/04 , A47L2201/06 , G05D1/0225 , G05D1/0255 , G05D1/027 , G05D2201/0203
摘要： A method for controlling a robot cleaner includes: detecting a cleaning target space, setting a cleaning region within the detected cleaning space and cleaning the set cleaning region; if the set cleaning region is completely cleaned, moving to a not-yet-cleaned region adjacent to a cleaning completion spot of the cleaning region; and setting a new cleaning region in the not-yet-cleaned region and performing cleaning. Without repeating a cleaning region in the cleaning target space, the robot cleaner can extend its cleaning region, so the cleaning efficiency of the robot cleaner can be improved. Also, the robot cleaner can be smoothly enter a new cleaning target space or released therefrom. In particular, even when the entrance of the new cleaning target space is narrow, the robot cleaner can smoothly enter the new cleaning target space and gets out thereof.
摘要翻译：一种用于控制机器人清洁器的方法包括：检测清洁目标空间，设置检测到的清洁空间内的清洁区域并清洁设置的清洁区域; 如果设置的清洁区域被完全清洁，移动到与清洁区域的清洁完成点相邻的尚未清洁的区域; 并且在尚未清洁的区域中设置新的清洁区域并进行清洁。机器人清洁器不会在清洁目标空间中重复清洁区域，所以能够延长其清洁区域，从而可以提高机器人清洁器的清洁效率。此外，机器人清洁器可以顺利地进入新的清洁目标空间或从其中释放。特别是，即使新的清洁对象空间的入口狭窄，机器人清洁器也可以平稳地进入新的清洁对象空间并离开。

10. 发明授权

US08954191B2 Mobile robot and controlling method of the same 有权
标题翻译：移动机器人及其控制方法相同
公开(公告)号：US08954191B2
公开(公告)日：2015-02-10
申请号：US12718380
申请日：2010-03-05
申请人： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
发明人： Dong Hoon Yi , Young Gie Kim , Jeong Suk Yoon , Seong Soo Lee , Jei Hun Lee , Seung Min Baek , Yoo Jin Choi , Sang Ik Na , Su Uk Choe , Yie Bin Kim
IPC分类号： G05B19/04 , G05B19/18 , G05D1/02
CPC分类号： G05D1/0274 , G05D1/0246 , G05D1/0255 , G05D2201/0203
摘要： Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.
摘要翻译：公开了一种移动机器人及其控制方法。整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。然后，将地图补偿为闭合的曲线，从而制作整个地图。此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及从清洁过程中捕获的图像中提取特征点。

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