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1. 发明授权

US08593451B2 Apparatus and method for generating octree based 3D map 有权
标题翻译：用于生成基于八叉树的3D地图的装置和方法
公开(公告)号：US08593451B2
公开(公告)日：2013-11-26
申请号：US12929682
申请日：2011-02-08
申请人： Yeon-Ho Kim , Joon-Kee Cho , Jung-Hyun Han , Yonh-hyun Jo
发明人： Yeon-Ho Kim , Joon-Kee Cho , Jung-Hyun Han , Yonh-hyun Jo
IPC分类号： G06T15/00
CPC分类号： G06T17/005
摘要： A method of generating a 3D complex octree map. A plurality of points each having 3D location information are detected from a range image. A space having the detected plurality of points is represented using grids. If points in a grid forms a plane, the grid is not subdivided and planar information about the plane is stored. A space not forming a plane is subdivided, thereby enhancing the storage efficiency.
摘要翻译：一种生成3D复数八叉树图的方法。从范围图像中检测出具有3D位置信息的多个点。具有检测到的多个点的空间使用网格来表示。如果网格中的点形成平面，则网格不会被细分，并且存储关于平面的平面信息。未形成平面的空间被细分，从而提高存储效率。

2. 发明申请

US20080154429A1 Apparatus, method, and medium for distinguishing the movement state of mobile robot 审中-公开
标题翻译：用于区分移动机器人运动状态的装置，方法和介质
公开(公告)号：US20080154429A1
公开(公告)日：2008-06-26
申请号：US11976208
申请日：2007-10-22
申请人： Hyoung-ki LEE , Joon-kee CHO , Seok-won BANG
发明人： Hyoung-ki LEE , Joon-kee CHO , Seok-won BANG
IPC分类号： G06F19/00
CPC分类号： G05D1/027 , G05D1/0272
摘要： An apparatus, method, and medium for distinguishing the movement state of a mobile robot are provided. The apparatus includes at least one driving wheel rotatably driven by a driving motor, a first rotation sensor to sense rotation of the driving wheel, at least one caster wheel installed corresponding to the driving wheel and freely moving with respect to a bottom surface, a second rotation sensor to sense rotation of the caster wheel, an acceleration sensor to measure acceleration of the mobile robot, an angular velocity sensor to measure angular velocity of the mobile robot, and a movement-state-distinguishing unit to distinguish movement states of the mobile robot through comparison of the velocity or acceleration of the driving wheel obtained by the first rotation sensor, the velocity or acceleration of the caster wheel obtained by the second rotation sensor, the acceleration obtained by the acceleration sensor, and the angular velocity obtained by the angular velocity sensor.
摘要翻译：提供了用于区分移动机器人的移动状态的装置，方法和介质。该装置包括至少一个由驱动电动机可旋转地驱动的驱动轮，用于感测驱动轮的旋转的第一旋转传感器，对应于驱动轮安装的至少一个脚轮和相对于底面自由移动的至少一个脚轮; 用于检测脚轮的旋转的旋转传感器，用于测量移动机器人的加速度的加速度传感器，用于测量移动机器人的角速度的角速度传感器以及用于区分移动机器人的移动状态的移动状态区别单元通过比较由第一旋转传感器获得的驱动轮的速度或加速度，通过第二旋转传感器获得的脚轮的速度或加速度，由加速度传感器获得的加速度和通过角速度获得的角速度传感器。

3. 发明申请

US20060071904A1 Method of and apparatus for executing function using combination of user's key input and motion 审中-公开
标题翻译：使用用户的键输入和运动的组合来执行功能的方法和装置
公开(公告)号：US20060071904A1
公开(公告)日：2006-04-06
申请号：US11195603
申请日：2005-08-03
申请人： Sung-jung Cho , Soon-joo Kwon , Wook Chang , Dong-yoon Kim , Jong-koo Oh , Eun-seok Choi , Won-chul Bang , Joon-kee Cho
发明人： Sung-jung Cho , Soon-joo Kwon , Wook Chang , Dong-yoon Kim , Jong-koo Oh , Eun-seok Choi , Won-chul Bang , Joon-kee Cho
IPC分类号： G09G5/00
CPC分类号： G06F3/017 , G06F3/0233
摘要： A method and apparatus for executing a function using a combination of a user's key input and motion in a terminal such as a mobile phone. The method includes receiving a key input from a user, sensing a motion of the user using a sensor, recognizing a pattern of the sensed motion, and executing a function corresponding to a combination of the key input and the recognized motion pattern.
摘要翻译：一种用于在诸如移动电话的终端中使用用户的键输入和运动的组合来执行功能的方法和装置。该方法包括从用户接收键输入，使用传感器感测用户的运动，识别感测到的运动的模式，以及执行与键输入和识别的运动模式的组合相对应的功能。

4. 发明申请

US20050225453A1 Method and apparatus for controlling device using three-dimensional pointing 审中-公开
标题翻译：使用三维指向控制装置的方法和装置
公开(公告)号：US20050225453A1
公开(公告)日：2005-10-13
申请号：US11044059
申请日：2005-01-28
申请人： Wook Chang , Dong-yoon Kim , Jong-koo Oh , Won-chul Bang , Kyoung-ho Kang , Sung-jung Cho , Jing Yang , Eun-seok Choi , Joon-kee Cho
发明人： Wook Chang , Dong-yoon Kim , Jong-koo Oh , Won-chul Bang , Kyoung-ho Kang , Sung-jung Cho , Jing Yang , Eun-seok Choi , Joon-kee Cho
IPC分类号： G06F3/00 , G06F3/01 , G06F3/038 , G06F9/00 , G08C17/00 , G08C19/00
CPC分类号： G06F3/017 , G06F3/0346 , G06F3/0383 , G08C17/00 , G08C2201/32 , G08C2201/40 , G08C2201/91
摘要： A method for controlling a predetermined control-targeted device using three dimensional pointing, wherein the method includes: calculating position information of a controlling apparatus; calculating attitude information of a controlling apparatus; calculating sight line information of the controlling apparatus by using the position information and the attitude information of the controlling apparatus; selecting the predetermined control-targeted device by using the sight line information of the controlling apparatus; and controlling the selected control-targeted device.
摘要翻译：一种使用三维指示来控制预定的控制目标装置的方法，其中所述方法包括：计算控制装置的位置信息; 计算控制装置的姿态信息; 通过使用控制装置的位置信息和姿势信息来计算控制装置的视线信息; 通过使用控制装置的视线信息来选择预定的控制对象装置; 以及控制所选择的控制目标设备。

5. 发明申请

US20050219213A1 Motion-based input device capable of classifying input modes and method therefor 审中-公开
标题翻译：基于运动的输入设备，能够对输入模式进行分类及其方法
公开(公告)号：US20050219213A1
公开(公告)日：2005-10-06
申请号：US11094217
申请日：2005-03-31
申请人： Sung-jung Cho , Dong-yoon Kim , Jong-koo Oh , Won-chul Bang , Joon-kee Cho , Wook Chang , Kyoung-ho Kang , Eun-seok Choi
发明人： Sung-jung Cho , Dong-yoon Kim , Jong-koo Oh , Won-chul Bang , Joon-kee Cho , Wook Chang , Kyoung-ho Kang , Eun-seok Choi
IPC分类号： G06F3/00 , G09G5/08
CPC分类号： G06F3/017 , G06F3/0346
摘要： A motion-based input device includes an inertial sensor acquiring an inertial signal corresponding to a user's motion, a buffer unit buffering the inertial signal at predetermined intervals, a mode classifying unit extracting a feature from the buffered inertial signal and classifying an input mode as either of a continuous state input mode and a symbol input mode based on the extracted feature, and an input processing unit which processes the inertial signal according to the classified input mode to recognize either of a continuous state and a symbol and outputs an input control signal indicating either of the recognized continuous state and symbol. The inertial sensor includes at least one sensor among an acceleration sensor and an angular velocity sensor. The motion-based input device further includes an input button that functions as a switch allowing the user to input a motion.
摘要翻译：基于运动的输入装置包括惯性传感器，其获取对应于用户运动的惯性信号，缓冲单元以预定间隔缓冲惯性信号，模式分类单元从缓冲的惯性信号中提取特征并将输入模式分类为基于所提取的特征的连续状态输入模式和符号输入模式;以及输入处理单元，其根据分类的输入模式处理惯性信号，以识别连续状态和符号中的任一个，并输出指示任何一个被认可的连续状态和符号。惯性传感器包括加速度传感器和角速度传感器中的至少一个传感器。基于运动的输入装置还包括用作允许用户输入运动的开关的输入按钮。

6. 发明申请

US20130046178A1 METHOD AND DEVICE FOR MONITORING TEMPERATURE OF TREATMENT SITE BY USING ULTRASOUND, AND SYSTEM FOR TREATMENT AND DIAGNOSIS USING ULTRASOUND 审中-公开
标题翻译：使用超声波监测治疗部位温度的方法和装置，以及超声波治疗和诊断系统
公开(公告)号：US20130046178A1
公开(公告)日：2013-02-21
申请号：US13588148
申请日：2012-08-17
申请人： Joon-kee CHO , Ki-wan CHOI , Dong-geon KONG
发明人： Joon-kee CHO , Ki-wan CHOI , Dong-geon KONG
IPC分类号： A61B8/00 , A61N7/02
CPC分类号： A61B8/5223 , A61B5/01 , A61B8/5246 , A61B2018/00791 , A61B2090/378 , A61N7/02 , G01K11/22 , G01K11/24
摘要： According to a method and device for monitoring temperature by using ultrasound, an echo signal of diagnostic ultrasound irradiated to a treatment site is acquired, candidate temperature images are generated from the echo signal using different temperature determining methods, and the generated candidate temperature images are merged, resulting in generating a final temperature image.
摘要翻译：根据使用超声波监测温度的方法和装置，获取照射到治疗部位的诊断超声的回波信号，使用不同的温度判定方法从回波信号生成候选温度图像，并且生成的候选温度图像被合并，从而产生最终温度图像。

7. 发明授权

US08346389B2 Cleaning robot having carpet detector and method of detecting carpet boundary using the same 有权
标题翻译：具有地毯检测器的清洁机器人及使用其检测地毯边界的方法
公开(公告)号：US08346389B2
公开(公告)日：2013-01-01
申请号：US11634146
申请日：2006-12-06
申请人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
发明人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0227 , A47L9/2826 , A47L9/2852 , A47L2201/04 , G05D1/0272 , G05D2201/0203
摘要： A cleaning robot having a carpet detector and a method of detecting a carpet boundary using the same, in which the presence of the carpet on a floor is detected. The cleaning robot having a carpet detector includes a main body, a driver fixed to the main body to move the robot, and the carpet detector detecting a carpet when the robot is driven by the driver. The method of detecting a carpet boundary includes detecting a carpet using respective carpet detectors fixed to both wheels of a robot, obtaining a moving distance of the robot for an interval between times at which the respective carpet detectors detect the carpet, and calculating a boundary direction of the carpet with respect to a moving direction of the robot using the moving distance and the interval between the times at which the respective carpet detectors detect the carpet.
摘要翻译：一种具有地毯检测器的清洁机器人和使用该清洁机器人检测地毯边缘的方法，其中检测到地毯上的存在。具有地毯检测器的清洁机器人包括主体，固定到主体以使机器人移动的驱动器，以及当机器人被驾驶员驱动时检测地毯的地毯检测器。检测地毯边界的方法包括使用固定在机器人的两个轮上的各自的地毯检测器来检测地毯，获得机器人在各个地毯检测器检测到地毯的时间之间的时间间隔的移动距离，以及计算边界方向的地毯相对于机器人的移动方向使用移动距离和各个地毯检测器检测到地毯的时间之间的间隔。

8. 发明授权

US07602133B2 Robot having an obstacle detection unit and method of controlling the same 有权
标题翻译：具有障碍物检测单元的机器人及其控制方法
公开(公告)号：US07602133B2
公开(公告)日：2009-10-13
申请号：US11606344
申请日：2006-11-30
申请人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
发明人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
IPC分类号： B25J5/00
CPC分类号： G05D1/0227 , A47L2201/00 , G05D1/0238 , G05D1/0255 , G05D2201/0203 , G05D2201/0215
摘要： A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.
摘要翻译：具有障碍物检测单元的机器人和控制机器人的方法。机器人包括主体，驱动单元，辅助主体和控制单元。驱动单元沿给定的表面驱动主体。辅助体从主体突出并检测主体周围的障碍物。控制单元根据检测结果来控制驱动单元，使得主体和障碍物保持彼此预定的距离。

9. 发明授权

US07451633B2 Apparatus and method for correcting inertial sensor and recording medium recording the method 有权
标题翻译：用于校正惯性传感器和记录方法的记录介质的装置和方法
公开(公告)号：US07451633B2
公开(公告)日：2008-11-18
申请号：US11353988
申请日：2006-02-15
申请人： Won-chul Bang , Dong-yoon Kim , Jong-koo Oh , Sung-jung Cho , Joon-kee Cho , Eun-seok Choi
发明人： Won-chul Bang , Dong-yoon Kim , Jong-koo Oh , Sung-jung Cho , Joon-kee Cho , Eun-seok Choi
IPC分类号： G01P21/00
CPC分类号： G01C21/16 , G01C25/005 , G01P7/00 , G01P21/02
摘要： An apparatus for correcting an inertial sensor includes an inertial sensor module, a storage module and a control module. The inertial sensor module measures angular velocity and acceleration of an object moving in a space. The storage module stores predetermined operation information and parameters required to correct the measured acceleration. The control module calculates motion velocity from the measured acceleration using the operation information and the parameters, and corrects the calculated motion velocity for each interval between zero-angular-velocity time instances at which angular velocity about an arbitrary axis is “0”.
摘要翻译：用于校正惯性传感器的装置包括惯性传感器模块，存储模块和控制模块。惯性传感器模块测量在空间中移动的物体的角速度和加速度。存储模块存储用于校正所测量的加速度所需的预定操作信息和参数。控制模块使用操作信息和参数从所测量的加速度计算运动速度，并且对于在任意轴的角速度为“0”的零角速度时间实例之间的每个间隔校正计算的运动速度。

10. 发明授权

US07152014B2 Method and apparatus for entering information into a portable electronic device 失效
标题翻译：将信息输入便携式电子设备的方法和装置
公开(公告)号：US07152014B2
公开(公告)日：2006-12-19
申请号：US11002796
申请日：2004-12-03
申请人： Won-chul Bang , Dong-yoon Kim , Jong-koo Oh , Joon-kee Cho , Kyoung-ho Kang , Sung-jung Cho , Eun-seok Choi , Wook Chang
发明人： Won-chul Bang , Dong-yoon Kim , Jong-koo Oh , Joon-kee Cho , Kyoung-ho Kang , Sung-jung Cho , Eun-seok Choi , Wook Chang
IPC分类号： G01P15/00
CPC分类号： G01P13/00 , G01P15/0888 , G01P15/18 , G06F3/0346 , G06F2200/1636 , H04M1/0214 , H04M2250/12 , H04M2250/22
摘要： An input device includes a sensor configured to generate a signal related to a change in inertia around at least one axis of the input device in response to a contacting of the input device. A processor is configured to receive the signal from the sensor to determine whether the change in inertia around the at least one axis of the input device corresponds to a tapping of the input device. The processor is further configured to identify a contacted region of the input device based on a direction of the change in inertia around the at least one axis of the input device when the change in inertia corresponds to a tapping of the input device
摘要翻译：输入设备包括传感器，其被配置为响应于输入设备的接触而产生与围绕输入设备的至少一个轴线的惯性变化相关的信号。处理器被配置为从传感器接收信号以确定围绕输入设备的至少一个轴的惯性变化是否对应于输入设备的敲击。处理器还被配置成当惯性变化对应于输入设备的敲击时，基于输入设备的至少一个轴线周围的惯性变化的方向来识别输入设备的接触区域

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