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1. 发明申请

US20100057252A1 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：US20100057252A1
公开(公告)日：2010-03-04
申请号：US12382627
申请日：2009-03-19
申请人： Jong Owan Kim
发明人： Jong Owan Kim
IPC分类号： B25J13/00
CPC分类号： G05B19/4067
摘要： A robot and a method for controlling the same are provided. The robot includes a first control unit to control the overall operation of the robot and a second control unit to supplement the function of the control unit in preparation for the malfunction of the first control unit such that the second control unit controls the robot to perform a predetermined safety-considered motion when the first control unit malfunctions.
摘要翻译：提供了一种机器人及其控制方法。机器人包括：第一控制单元，用于控制机器人的整体操作;以及第二控制单元，用于补充控制单元的功能，以准备第一控制单元的故障，使得第二控制单元控制机器人执行当第一控制单元发生故障时预先确定的安全考虑的运动。

2. 发明申请

US20090171504A1 METHOD AND APPARATUS FOR DETECTING MOVEMENT ERROR IN MOBILE ROBOT 有权
标题翻译：用于检测移动机器人运动误差的方法和装置
公开(公告)号：US20090171504A1
公开(公告)日：2009-07-02
申请号：US12343653
申请日：2008-12-24
申请人： Seung Yong Hyung , Jong Owan Kim , Jong Chang Lee , Jong Ho Park , Hyun Sik Shim , Kun Hak Lee
发明人： Seung Yong Hyung , Jong Owan Kim , Jong Chang Lee , Jong Ho Park , Hyun Sik Shim , Kun Hak Lee
IPC分类号： G06F19/00
CPC分类号： G01C21/12
摘要： An apparatus and method for detecting movement errors due to the wheel slip or transient current generated while a mobile robot is traveling. The movement error detecting method includes: detecting movement of the wheels in a sensor part according to a movement command input to a drive motor, and outputting an actual output value from the sensor part; calculating an ideal output value for output from the sensor part as the wheels are moved according to the movement command; and comparing the actual output value with the ideal output value to determine and residual fault and detect movement errors.
摘要翻译：一种用于检测在移动机器人行进时产生的车轮滑移或瞬态电流引起的移动误差的装置和方法。运动误差检测方法包括：根据输入到驱动马达的运动指令，检测传感器部分中的车轮的运动，并从传感器部分输出实际的输出值; 根据移动指令，计算用于从传感器部分输出的理想输出值，随着车轮的移动; 并将实际输出值与理想输出值进行比较，以确定残余故障并检测运动误差。

3. 发明授权

US08831769B2 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：US08831769B2
公开(公告)日：2014-09-09
申请号：US12382627
申请日：2009-03-19
申请人： Jong Owan Kim
发明人： Jong Owan Kim
IPC分类号： G06F7/00 , G05B19/4067
CPC分类号： G05B19/4067
摘要： A robot and a method for controlling the same are provided. The robot includes a first control unit to control the overall operation of the robot and a second control unit to supplement the function of the control unit in preparation for the malfunction of the first control unit such that the second control unit controls the robot to perform a predetermined safety-considered motion when the first control unit malfunctions.
摘要翻译：提供了一种机器人及其控制方法。机器人包括：第一控制单元，用于控制机器人的整体操作;以及第二控制单元，用于补充控制单元的功能，以准备第一控制单元的故障，使得第二控制单元控制机器人执行当第一控制单元发生故障时预先确定的安全考虑的运动。

4. 发明申请

US20120146560A1 MOTOR CONTROL SYSTEM 有权
标题翻译：电机控制系统
公开(公告)号：US20120146560A1
公开(公告)日：2012-06-14
申请号：US13311092
申请日：2011-12-05
申请人： Jong Owan KIM
发明人： Jong Owan KIM
IPC分类号： H02P6/14
CPC分类号： H02P7/29 , H02P1/18
摘要： A motor control system includes a power supply to supply current to a motor, a shunt resistor provided at one side of the motor to measure the magnitude of current supplied to the motor, a differential amplifier to receive a voltage applied to both ends of the shunt resistor as an input signal and amplify the input signal, an Analog/Digital Converter (ADC) to convert an analog signal generated from the differential amplifier into a digital signal, a switch to switch current applied to the motor by the power supply, and a microcontroller to generate a Pulse Width Modulation (PWM) control signal so as to control ON or OFF of the switch and generate an operation start signal of the ADC by considering the PWM control signal and a hardware delay value of the differential amplifier.
摘要翻译：电动机控制系统包括向电动机提供电流的电源，设置在电动机的一侧的分流电阻器，用于测量提供给电动机的电流的大小;差分放大器，用于接收施加到分路两端的电压电阻器作为输入信号并放大输入信号;模拟/数字转换器（ADC），用于将从差分放大器产生的模拟信号转换为数字信号;开关，用于切换由电源施加到电动机的电流;以及微控制器产生脉宽调制（PWM）控制信号，以控制开关的ON或OFF，并通过考虑PWM控制信号和差分放大器的硬件延迟值来产生ADC的运行开始信号。

5. 发明申请

US20120165980A1 WALKING ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：运动机器人及其控制方法
公开(公告)号：US20120165980A1
公开(公告)日：2012-06-28
申请号：US13327862
申请日：2011-12-16
申请人： Jong Owan KIM
发明人： Jong Owan KIM
IPC分类号： G05B19/04
CPC分类号： B25J9/162 , G05B2219/39251 , G05B2219/39413 , G05B2219/40244
摘要： A walking robot and a control method thereof. The walking robot includes a main communication path, a subsidiary communication path, at least one master generating a communication protocol and transmitting the communication protocol through the main and subsidiary communication paths, and a plurality of slaves communicably connected to the at least one master through the main and subsidiary communication paths, increasing a value of an access counter of the communication protocol received through the main communication path, decreasing a value of the access counter of the communication protocol received through the subsidiary communication path, and forming loop-back paths connecting the main communication path and the subsidiary communication path when a communication error has occurred, wherein the at least one master judges whether or not the communication error has occurred from the values of the access counter of the communication protocol having passed through the plurality of slaves.
摘要翻译：一种步行机器人及其控制方法。步行机器人包括主通信路径，辅助通信路径，至少一个主站，其生成通信协议，并通过主和辅通信路径发送通信协议;以及多个从站，可通信地连接到至少一个主站，主通信路径和辅助通信路径，增加通过主通信路径接收的通信协议的接入计数器的值，减小通过辅助通信路径接收的通信协议的接入计数器的值，以及形成连接主通信路径和辅助通信路径，其中至少一个主设备从通过多个从站的通信协议的访问计数器的值判断是否发生了通信错误。

6. 发明申请

US20120116581A1 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：US20120116581A1
公开(公告)日：2012-05-10
申请号：US13253198
申请日：2011-10-05
申请人： Sung Gu KWON , Dong Min Shin , Jong Owan Kim
发明人： Sung Gu KWON , Dong Min Shin , Jong Owan Kim
IPC分类号： G06F19/00 , G05B9/02
CPC分类号： G05B19/4067 , G05B2219/50082 , G05B2219/50083
摘要： A robot which is able to complete all or a part of desired operations and take a safety countermeasure in order to prevent an unexpected result from being obtained, even when a power source of a motor-based robot is unintentionally and suddenly cut off. A method of controlling a robot, which includes a main power source, a subsidiary power source and a motor to receive power from at least one of the main power source and the subsidiary power source, includes driving the motor using power supplied from the subsidiary power source if power supplied from the main power source is cut off, selecting at least one of a plurality of safety control modes to stably control the robot in consideration of a current state of the robot, and controlling the robot to operate in the selected safety control mode.
摘要翻译：能够完成全部或一部分所需操作并采取安全对策的机器人，以便即使当电动机器人的电源无意中突然切断时，也可以防止意外的结果。一种控制机器人的方法，其包括主电源，辅助电源和从主电源和辅助电源中的至少一个接收电力的电动机，包括使用从辅助电源提供的电力来驱动电动机来源，如果从主电源供应的电力被切断，则选择多个安全控制模式中的至少一个来考虑机器人的当前状态来稳定地控制机器人，并且控制机器人在所选择的安全控制模式。

7. 发明授权

US08135498B2 Method and apparatus for detecting movement error in mobile robot 有权
标题翻译：移动机器人移动误差检测方法及装置
公开(公告)号：US08135498B2
公开(公告)日：2012-03-13
申请号：US12343653
申请日：2008-12-24
申请人： Seung Yong Hyung , Jong Owan Kim , Jong Chang Lee , Jong Ho Park , Hyun Sik Shim , Kun Hak Lee
发明人： Seung Yong Hyung , Jong Owan Kim , Jong Chang Lee , Jong Ho Park , Hyun Sik Shim , Kun Hak Lee
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： G01C21/12
摘要： An apparatus and method for detecting movement errors due to the wheel slip or transient current generated while a mobile robot is traveling. The movement error detecting method includes: detecting movement of the wheels in a sensor part according to a movement command input to a drive motor, and outputting an actual output value from the sensor part; calculating an ideal output value for output from the sensor part as the wheels are moved according to the movement command; and comparing the actual output value with the ideal output value to determine and residual fault and detect movement errors.
摘要翻译：一种用于检测在移动机器人行进时产生的车轮滑移或瞬态电流引起的移动误差的装置和方法。运动误差检测方法包括：根据输入到驱动马达的运动指令，检测传感器部分中的车轮的运动，并从传感器部分输出实际的输出值; 根据移动指令，计算用于从传感器部分输出的理想输出值，随着车轮的移动; 并将实际输出值与理想输出值进行比较，以确定残余故障并检测运动误差。

8. 发明授权

US09239389B2 Obstacle sensor and robot cleaner having the same 有权
标题翻译：障碍传感器和机器人清洁器具有相同的功能
公开(公告)号：US09239389B2
公开(公告)日：2016-01-19
申请号：US13616137
申请日：2012-09-14
申请人： Yeon Kyu Jeong , Shin Kim , Jeong Hun Kim , Jong Owan Kim , Sang Sik Yoon , Dong Hun Lee , Jea Yun So
发明人： Yeon Kyu Jeong , Shin Kim , Jeong Hun Kim , Jong Owan Kim , Sang Sik Yoon , Dong Hun Lee , Jea Yun So
IPC分类号： G02B17/08 , G01S17/00 , G05D1/02 , G01S17/88 , G01S17/93 , G01S7/481
CPC分类号： G01S17/00 , G01S7/4813 , G01S7/4814 , G01S7/4816 , G01S17/88 , G01S17/936 , G02B17/0808 , G05D1/0238 , G05D1/0248 , G05D2201/0203
摘要： An obstacle sensor includes a line light irradiating unit including a light-emitting unit, a light-emitting driving unit to drive the light-emitting unit, and a first conical mirror, an apex of which is disposed towards the light-emitting unit in a light irradiation direction of the light-emitting unit and which converts light emitted from the light-emitting unit into line light irradiated in all directions, and a reflected light receiving unit including a second conical mirror to condense light, that is irradiated from the first conical mirror and is then reflected from an obstacle, a lens, that is spaced from the apex of the second conical mirror by a predetermined distance and transmits the reflected light, an imaging unit to image the reflected light that passes through the lens, an image processing unit, and an obstacle sensing control unit.
摘要翻译：障碍传感器包括：行光照射单元，包括发光单元，驱动发光单元的发光驱动单元;以及第一锥形反射镜，其顶点设置在发光单元中发光单元的光照射方向，并将从发光单元发射的光转换为沿所有方向照射的线光;以及反射光接收单元，包括第二锥形镜以使光从第一锥形然后从与第二锥形反射镜的顶点隔开预定距离的障碍物，透镜反射并透射反射光，成像单元对通过透镜的反射光进行成像，图像处理单元和障碍物感测控制单元。

9. 发明授权

US08761937B2 Walking robot and control method thereof 有权
标题翻译：步行机器人及其控制方法
公开(公告)号：US08761937B2
公开(公告)日：2014-06-24
申请号：US13327862
申请日：2011-12-16
申请人： Jong Owan Kim
发明人： Jong Owan Kim
IPC分类号： G05B19/00
CPC分类号： B25J9/162 , G05B2219/39251 , G05B2219/39413 , G05B2219/40244
摘要： A walking robot and a control method thereof. The walking robot includes a main communication path, a subsidiary communication path, at least one master generating a communication protocol and transmitting the communication protocol through the main and subsidiary communication paths, and a plurality of slaves communicably connected to the at least one master through the main and subsidiary communication paths, increasing a value of an access counter of the communication protocol received through the main communication path, decreasing a value of the access counter of the communication protocol received through the subsidiary communication path, and forming loop-back paths connecting the main communication path and the subsidiary communication path when a communication error has occurred, wherein the at least one master judges whether or not the communication error has occurred from the values of the access counter of the communication protocol having passed through the plurality of slaves.
摘要翻译：一种步行机器人及其控制方法。步行机器人包括主通信路径，辅助通信路径，至少一个主站，其生成通信协议，并通过主和辅通信路径发送通信协议;以及多个从站，可通信地连接到至少一个主站，主通信路径和辅助通信路径，增加通过主通信路径接收的通信协议的接入计数器的值，减小通过辅助通信路径接收的通信协议的接入计数器的值，以及形成连接主通信路径和辅助通信路径，其中至少一个主设备从通过多个从站的通信协议的访问计数器的值判断是否发生了通信错误。

10. 发明授权

US08653770B2 Motor control system 有权
标题翻译：电机控制系统
公开(公告)号：US08653770B2
公开(公告)日：2014-02-18
申请号：US13311092
申请日：2011-12-05
申请人： Jong Owan Kim
发明人： Jong Owan Kim
IPC分类号： H03K5/00
CPC分类号： H02P7/29 , H02P1/18
摘要： A motor control system includes a power supply to supply current to a motor, a shunt resistor provided at one side of the motor to measure the magnitude of current supplied to the motor, a differential amplifier to receive a voltage applied to both ends of the shunt resistor as an input signal and amplify the input signal, an Analog/Digital Converter (ADC) to convert an analog signal generated from the differential amplifier into a digital signal, a switch to switch current applied to the motor by the power supply, and a microcontroller to generate a Pulse Width Modulation (PWM) control signal so as to control ON or OFF of the switch and generate an operation start signal of the ADC by considering the PWM control signal and a hardware delay value of the differential amplifier.
摘要翻译：电动机控制系统包括向电动机提供电流的电源，设置在电动机的一侧的分流电阻器，用于测量提供给电动机的电流的大小;差分放大器，用于接收施加到分路两端的电压电阻器作为输入信号并放大输入信号;模拟/数字转换器（ADC），用于将从差分放大器产生的模拟信号转换为数字信号;开关，用于切换由电源施加到电动机的电流;以及微控制器产生脉宽调制（PWM）控制信号，以控制开关的ON或OFF，并通过考虑PWM控制信号和差分放大器的硬件延迟值来产生ADC的运行开始信号。

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