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1. 发明申请

US20070150102A1 Method of supporting robot application programming and programming tool for the same 审中-公开
标题翻译：支持机器人应用程序编程和编程工具的方法相同
公开(公告)号：US20070150102A1
公开(公告)日：2007-06-28
申请号：US11635222
申请日：2006-12-07
申请人： Joong Ki Park , Joong Bae Kim , Woo Young Kwon , Kyeong Ho Lee , Young Jo Cho
发明人： Joong Ki Park , Joong Bae Kim , Woo Young Kwon , Kyeong Ho Lee , Young Jo Cho
IPC分类号： G06F19/00
CPC分类号： B25J9/1661 , G05B2219/36177 , G05B2219/40099 , G05B2219/40102 , G06F8/34
摘要： A method of supporting robot application programming and a programming tool for the same are provided. In the method of supporting robot application programming, behaviors that constitute operations to be performed by a robot are assembled in the programming tool for programming an application program for the operations to be performed by the robot. The method includes: (a) classifying the operations to be performed by the robot by functions of the robot; (b) displaying the behavior of the robot which can constitute one of the functions on a display device in a graphical form with block shapes that can be connected one another visually with a plurality of conditions; and (c) converting a set of the blocks into an XML file, when the function of the robot is constructed as a robot task by the set of blocks in the graphical form. Accordingly, various robot applications can be intuitively, easily and speedily developed by simply manipulating the tool boxes of the graphical programming tools without directly inputting code in text form.
摘要翻译：提供了一种支持机器人应用程序编程的方法及其编程工具。在支持机器人应用编程的方法中，构成由机器人执行的操作的行为被组装在编程工具中，以编程用于由机器人执行的操作的应用程序。该方法包括：（a）通过机器人的功能对由机器人执行的操作进行分类; （b）以图形形式显示能够在显示装置上构成其中一个功能的机器人的行为，其具有可以多个条件在视觉上彼此连接的块形状; 以及（c）当所述机器人的功能由图形形式的所述一组块构造为机器人任务时，将所述块的一组转换为XML文件。因此，通过简单地操纵图形编程工具的工具箱而不直接输入文本形式的代码，可以直观，容易和快速地开发各种机器人应用。

2. 发明申请

US20110153073A1 FAULT TOLERANCE METHOD AND APPARATUS FOR ROBOT SOFTWARE COMPONENT 有权
标题翻译：机器人软件组件的容错方法和装置
公开(公告)号：US20110153073A1
公开(公告)日：2011-06-23
申请号：US12843513
申请日：2010-07-26
申请人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
发明人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
IPC分类号： G06F19/00
CPC分类号： G06F11/1482 , G06F11/1438
摘要： An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
摘要翻译：用于对在驱动机器人软件组件期间发生的故障执行容错的装置包括：用于执行机器人软件组件的组件执行器，其通过使用所分配的线程从操作系统分配一个线程并具有相同的优先级和周期 ; 以及执行器监视器，用于周期性地监视组件执行器的操作并确定组件执行器执行的机器人软件组件是否存在故障。该装置还包括：执行器管理器，用于生成被分配有具有相同优先级和周期的机器人软件组件的组件执行器，并且当执行器监视器确定执行机器人软件组件时出现故障时，生成新组件执行器。

3. 发明申请

US20110054684A1 METHOD AND SYSTEM FOR TRANSFERRING/ACQUIRING OPERATION RIGHT OF MOVING ROBOT IN MULTI-OPERATOR MULTI-ROBOT ENVIRONMENT 审中-公开
标题翻译：多机器人多机器人环境中移动机器人的运行方式和系统
公开(公告)号：US20110054684A1
公开(公告)日：2011-03-03
申请号：US12873606
申请日：2010-09-01
申请人： Beom-Su SEO , Sung-Hoon KIM , Kyeong-Ho LEE , Joong-Bae KIM , Myung-Chan ROH , Choul-Soo JANG , Seung-Woog JUNG , Seung-Ik LEE , Yoon-Ju LEE , Ji-Hung KIM , Hyun-Chul PARK , Joong-Ki PARK
发明人： Beom-Su SEO , Sung-Hoon KIM , Kyeong-Ho LEE , Joong-Bae KIM , Myung-Chan ROH , Choul-Soo JANG , Seung-Woog JUNG , Seung-Ik LEE , Yoon-Ju LEE , Ji-Hung KIM , Hyun-Chul PARK , Joong-Ki PARK
IPC分类号： B25J9/16
CPC分类号： G05B19/0421
摘要： In an operating system having a first controller configured to manage one or more robots included in a first region, and a second controller configured to manage one or more robots included in a second region adjacent to the first region, a method for enabling the second controller to acquire an operation right of N robots (where N is a natural number equal to or greater than 1) operated by the first controller, the method includes: transmitting a control mapping status (CMS) containing an operation right change message to the first controller, upon reception of an operation right request signal from a user of the N robots; and checking a connection status of the N robots, upon reception of the CMS containing the operation right change message from the first controller, and acquiring an operation right by providing CMS acquisition information and control mapping information to the robots included in the second region.
摘要翻译：在具有第一控制器的操作系统中，所述第一控制器被配置为管理包括在第一区域中的一个或多个机器人，以及被配置为管理包括在与所述第一区域相邻的第二区域中的一个或多个机器人的第二控制器，获取由第一控制器操作的N个机器人（其中N是等于或大于1的自然数）的操作权限，该方法包括：向第一控制器发送包含操作权变更消息的控制映射状态（CMS）在接收到来自N个机器人的用户的操作权请求信号时; 以及在从所述第一控制器接收到包含所述操作权限改变消息的所述CMS的情况下检查所述N个机器人的连接状态，以及通过向所述第二区域中包括的机器人提供CMS获取信息和控制映射信息来获取操作权限。

4. 发明申请

US20090165987A1 CONTINUOUS CASTING MACHINE AND METHOD USING MOLTEN MOLD FLUX 有权
标题翻译：连续铸造机和使用MOLT模具的方法
公开(公告)号：US20090165987A1
公开(公告)日：2009-07-02
申请号：US12306216
申请日：2007-06-22
申请人： Jung Wook Cho , Hyun Seok Jeong , Jong Min Park , Goo Hwa Kim , Oh Duck Kwon , Joong Ki Park , Soo Kyu Lee , Sang Ho Lee , Ki Hyeon Moon
发明人： Jung Wook Cho , Hyun Seok Jeong , Jong Min Park , Goo Hwa Kim , Oh Duck Kwon , Joong Ki Park , Soo Kyu Lee , Sang Ho Lee , Ki Hyeon Moon
IPC分类号： B22D11/11
CPC分类号： B22D11/108 , B22D11/111 , B22D11/165
摘要： The present invention relates to a continuous casting machine and method using molten mold flux. The continuous casting machine includes a mold cover for covering an upper portion of a mold; a mold flux melting unit for melting mold flux to be supplied into the mold; and a mold flux delivery unit for supplying the mold with the molten mold flux melted in the mold flux melting unit, wherein the delivery unit includes an injection tube with one end connected to the mold flux melting unit and the other end positioned in the mold through the mold cover, and an injection tube heater for heating the injection tube. According to the present invention, since a slag bear continuous casting machine and method using molten mold flux is removed, a consumption of mold flux is greatly increased compared with a case of a conventional casting work, so that the friction between a mold and a solidified shell is reduced. As a result, an amount of scarfing of a cast piece is greatly reduced and no carbon pick-up occurs.
摘要翻译：本发明涉及使用熔融熔渣的连续铸造机和方法。连续铸造机包括用于覆盖模具的上部的模具盖; 用于熔化待供应到模具中的熔渣的熔模熔化单元; 以及模具通量输送单元，用于向模具供应在熔剂熔化单元中熔化的熔融熔渣，其中所述输送单元包括注射管，所述注射管的一端连接到模具熔剂单元，而另一端位于模具通过模具盖和用于加热注射管的注射管加热器。根据本发明，由于去除了渣渣连续铸造机和使用熔融模具助熔剂的方法，与常规铸造工艺相比，模具熔剂的消耗大大增加，使得模具和固化的模具之间的摩擦壳减少。结果，铸件的切割量大大降低，并且不会发生碳吸收。

5. 发明申请

US20090157223A1 ROBOT CHATTING SYSTEM AND METHOD 审中-公开
标题翻译：机器人教学系统与方法
公开(公告)号：US20090157223A1
公开(公告)日：2009-06-18
申请号：US12209628
申请日：2008-09-12
申请人： Joong-Ki PARK , Byung Ho Chung , Hyun Sook Cho
发明人： Joong-Ki PARK , Byung Ho Chung , Hyun Sook Cho
IPC分类号： G05B19/04
CPC分类号： G06N3/008 , A63H2200/00
摘要： A robot chatting system includes an interface for generating a chatting text including robot motion having a text part and a motion part; a robot chatting server for providing a robot chatting service between chatting persons, using the chatting text including robot motion; a first unit for generating motion control data corresponding to the motion part of the chatting text including robot motion; a second unit for converting the text part of the chatting text including robot motion into speech data; and a robot for outputting the speech data through a speaker and simultaneously motioning based on the motion control data. Therefore, when the user inputs text and its corresponding motions and sends the input text, the other user's robot reads the text and performs the relevant motions, thereby providing the robot chatting service of good quality.
摘要翻译：机器人聊天系统包括用于生成包括具有文本部分和运动部分的机器人运动的聊天文本的界面; 机器人聊天服务器，用于在聊天人之间使用包括机器人运动的聊天文本来提供机器人聊天服务; 用于产生与包括机器人运动的聊天文本的运动部分相对应的运动控制数据的第一单元; 第二单元，用于将包括机器人运动的聊天文本的文本部分转换成语音数据; 以及用于通过扬声器输出语音数据并且基于运动控制数据同时运动的机器人。因此，当用户输入文本及其对应的动作并发送输入文本时，其他用户的机器人读取文本并执行相关动作，从而提供质量好的机器人聊天服务。

6. 发明授权

US08332069B2 Fault tolerance method and apparatus for robot software component 有权
标题翻译：机器人软件组件的容错方法和装置
公开(公告)号：US08332069B2
公开(公告)日：2012-12-11
申请号：US12843513
申请日：2010-07-26
申请人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
发明人： Choul Soo Jang , Seung-Woog Jung , Byoung Youl Song , Sung Hoon Kim , Joong Bae Kim , Kyeong Ho Lee , Hyun Kyu Cho , Myung Chan Roh , Joong-Ki Park , Chang Eun Lee
IPC分类号： G06F19/00
CPC分类号： G06F11/1482 , G06F11/1438
摘要： An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.
摘要翻译：用于对在驱动机器人软件组件期间发生的故障执行容错的装置包括：用于执行机器人软件组件的组件执行器，其通过使用所分配的线程从操作系统分配一个线程并具有相同的优先级和周期 ; 以及执行器监视器，用于周期性地监视组件执行器的操作并确定组件执行器执行的机器人软件组件是否存在故障。该装置还包括：执行器管理器，用于生成被分配有具有相同优先级和周期的机器人软件组件的组件执行器，并且当执行器监视器确定执行机器人软件组件时出现故障时，生成新组件执行器。

7. 发明申请

US20100316039A1 APPARATUS AND METHOD FOR GENERATING RANGING CODE 审中-公开
标题翻译：用于生成范围代码的装置和方法
公开(公告)号：US20100316039A1
公开(公告)日：2010-12-16
申请号：US12793832
申请日：2010-06-04
申请人： Yoon Ju LEE , Sung Hoon Kim , Jihyung Kim , Beom-Su Seo , Kyeong Ho Lee , Joong Bae Kim , Myung Chan Roh , Choul Soo Jang , Seung-Woog Jung , Seung-Ik Lee , Joong-Ki Park , Chul-Hee Han
发明人： Yoon Ju LEE , Sung Hoon Kim , Jihyung Kim , Beom-Su Seo , Kyeong Ho Lee , Joong Bae Kim , Myung Chan Roh , Choul Soo Jang , Seung-Woog Jung , Seung-Ik Lee , Joong-Ki Park , Chul-Hee Han
IPC分类号： H04B7/216 , H04L27/28
CPC分类号： H04J13/10 , H04J13/0022
摘要： An apparatus for generating a ranging code extracts a ranging code in each ranging mode, using a ranging code table storing one period data in bytes of the PN code according to a reference UL PermBase number, and an offset table that stores byte offsets for the start positions of the PN codes of the reference UL PermBase number and the other plurality of UL PermBase numbers and bit offsets in the byte including the start positions, on the basis of the PN code according to the reference UL PermBase number.
摘要翻译：一种用于生成测距码的装置，使用根据参考UL PermBase号存储PN码的一个周期数据（以字节为单位）的测距码表和存储用于开始的字节偏移的偏移表，在每个测距模式中提取测距码基于根据参考UL PermBase号的PN码，参考UL PermBase号和其它多个UL PermBase号和包括起始位置的字节中的位偏移的PN码的位置。

8. 发明授权

US07543047B2 Method for data synchronization and update conflict resolution between mobile clients and server in mobile system 有权
标题翻译：移动系统中移动客户端与服务器之间的数据同步和更新冲突解决方法
公开(公告)号：US07543047B2
公开(公告)日：2009-06-02
申请号：US10422843
申请日：2003-04-25
申请人： Joong-Ki Park , Joong Bae Kim , Duk Joo Son
发明人： Joong-Ki Park , Joong Bae Kim , Duk Joo Son
IPC分类号： G06F15/177
CPC分类号： G06F17/30575 , Y10S707/99952
摘要： Disclosed is a method for data synchronization and update conflict resolution between mobile clients and a server in a mobile system which maintains consistency of data between the clients and the server and enables the clients to continuously perform an effective update operation with respect to objects of the server even in a clients' disconnection state by the mobile clients performing an independent update operation with respect to disjoint fragments and associated objects for a specified object using the structure of the objects and the meaning of applications and then performing the data synchronization and the conflict resolution between the clients and the server during a reconnection operation. The method includes a copy management step of copying data of a server-side DB into a client-side built-in DB and the server managing contents of copying and a copying time, a data synchronization step of synchronizing changed data between the mobile clients and the DB server with respect to a data change produced during the mobile clients' disconnection state in accordance with a request of the mobile clients after a reconnection of the mobile clients, and a conflict detection and resolution step of detecting an error that damages consistency of the data in the data synchronization process and resolving the detected error.
摘要翻译：公开了一种在移动客户端与移动系统中的服务器之间的数据同步和更新冲突解决方法，其保持客户端和服务器之间的数据的一致性，并且使得客户能够连续地对服务器的对象执行有效的更新操作即使在客户端的断开状态下，移动客户端使用对象的结构和应用程序的含义，针对指定对象的不相交的分段和相关对象执行独立的更新操作，然后执行数据同步和冲突解决客户端和服务器在重新连接操作期间。该方法包括将服务器侧DB的数据复制到客户端内置DB中的复制管理步骤以及管理复制和复制时间的内容的服务器，在移动客户端之间同步改变的数据的数据同步步骤所述数据库服务器相对于根据所述移动客户端的重新连接之后的所述移动客户端的请求而在所述移动客户端的断开状态期间产生的数据更改，以及冲突检测和解决步骤，用于检测损坏所述移动客户端的一致性的错误数据同步过程中的数据，并解决检测到的错误。

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