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1. 发明授权

US08380379B2 Walking assistive system 有权
标题翻译：行走辅助系统
公开(公告)号：US08380379B2
公开(公告)日：2013-02-19
申请号：US12902626
申请日：2010-10-12
申请人： Kai-Tai Song , Sin-Yi Jiang , Ko-Tung Huang
发明人： Kai-Tai Song , Sin-Yi Jiang , Ko-Tung Huang
IPC分类号： B62D51/04 , A61G5/05
CPC分类号： B60L15/20 , B60L2200/24 , B60L2240/421 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： The present invention discloses a walking assistive system comprising a motion module, a current detecting module and a central control module. Each motion module includes omni-directional wheels, motors, shaft encoders and servo controllers. The omni-directional wheels are connected to and driven by the motors. The motors are connected to the shaft encoders, and the rotation speed values are generated corresponds to the rotation speed of the motors by the shaft coder. The servo controllers connected to the shaft encoders and the motors receive the rotation speed values and control the motors. The current detecting modules connected to the motors detect the current of the motors and generate current values correspondingly. The central control module connected to the motion control module and the current detecting module controls the platform compliant motion control modules according to the rotation speed values and the current values.
摘要翻译：本发明公开了一种行走辅助系统，包括运动模块，电流检测模块和中央控制模块。每个运动模块都包括全向轮，马达，轴编码器和伺服控制器。全方向车轮连接到电动机并由其驱动。电动机连接到轴编码器，并且通过轴编码器产生对应于电动机的转速的转速值。连接到轴编码器和电机的伺服控制器接收转速值并控制电机。连接到电动机的电流检测模块检测电动机的电流并相应地产生电流值。连接到运动控制模块的中央控制模块和电流检测模块根据转速值和当前值来控制平台兼容运动控制模块。

2. 发明申请

US20120281918A1 METHOD FOR DYNAMICALLY SETTING ENVIRONMENTAL BOUNDARY IN IMAGE AND METHOD FOR INSTANTLY DETERMINING HUMAN ACTIVITY 有权
标题翻译：用于动态设定环境边界的方法和用于人体活动的方法
公开(公告)号：US20120281918A1
公开(公告)日：2012-11-08
申请号：US13207782
申请日：2011-08-11
申请人： Kai-Tai Song , Wei-Jyun Chen
发明人： Kai-Tai Song , Wei-Jyun Chen
IPC分类号： G06K9/48
CPC分类号： G06K9/00335 , G06K9/00785 , G06T7/73 , G06T2207/10004 , G06T2207/20164 , G06T2207/30196
摘要： The present invention provides a method for dynamically setting an environmental boundary in an image and a method for instantly determining human activity according to the method for dynamically setting the environmental boundary. The method for instantly determining human activity includes the steps of retrieving at least an initial environmental image with a predetermined angle, and calculating a boundary setting equation of an object and an environmental boundary in the initial environmental image; retrieving a dynamic environmental image having the object by using a movable platform, and figuring out a new environmental boundary; determining a human image in the dynamic environmental image, recording retention time of the human image, and determining a human posture; and determining human location according to the environmental boundary in the dynamic environmental image and the human image, and instantly determining the human activity.
摘要翻译：本发明提供了一种用于动态设置图像中的环境边界的方法和用于根据用于动态设置环境边界的方法立即确定人类活动的方法。用于立即确定人类活动的方法包括以预定角度检索至少一个初始环境图像并计算初始环境图像中的对象和环境边界的边界设置方程的步骤; 通过使用可移动平台来检索具有该对象的动态环境图像，并且找出新的环境边界; 确定动态环境图像中的人物图像，记录人体图像的保留时间，以及确定人的姿势; 并根据动态环境图像和人体图像中的环境边界来确定人的位置，并且立即确定人的活动。

3. 发明授权

US08111156B2 Intruder detection system and method 有权
标题翻译：入侵者检测系统和方法
公开(公告)号：US08111156B2
公开(公告)日：2012-02-07
申请号：US12262152
申请日：2008-10-30
申请人： Kai-Tai Song , Chia-Hao Lin , Chih-Sheng Lin , Su-Hen Yang
发明人： Kai-Tai Song , Chia-Hao Lin , Chih-Sheng Lin , Su-Hen Yang
IPC分类号： G08B13/00
CPC分类号： G08B25/009 , G08B13/19645 , G08B13/19647
摘要： This invention is an intruder detection system which integrates wireless sensor network and security robots. Multiple ZigBee wireless sensor modules installed in the environment can detect intruders and abnormal conditions with various sensors, and transmit alert to the monitoring center and security robot via the wireless mesh network. The robot can navigate in the environment autonomously and approach to a target place using its localization system. If any possible intruder is detected, the robot can approach to that location, and transmit images to the mobile devices of the securities and users, in order to determine the exact situation in real time.
摘要翻译：本发明是一种综合无线传感器网络和安全机器人的入侵者检测系统。安装在环境中的多个ZigBee无线传感器模块可以通过各种传感器检测入侵者和异常情况，并通过无线网状网络向监控中心和安全机器人发送警报。机器人可以自主地在环境中导航，并使用其定位系统接近目标地点。如果检测到任何可能的入侵者，机器人可以接近该位置，并将图像发送到证券和用户的移动设备，以便实时确定确切的情况。

4. 发明申请

US20100284619A1 FACE DETECTION APPARATUS AND FACE DETECTION METHOD 有权
标题翻译：脸部检测装置和面部检测方法
公开(公告)号：US20100284619A1
公开(公告)日：2010-11-11
申请号：US12608013
申请日：2009-10-29
申请人： Kai-Tai Song , Meng-Ju Han , Shih-Chieh Wang , Ming-Feng Chiang , Chia-Ho Lin
发明人： Kai-Tai Song , Meng-Ju Han , Shih-Chieh Wang , Ming-Feng Chiang , Chia-Ho Lin
IPC分类号： G06K9/46
CPC分类号： G06K9/00228 , G06K9/4614 , G06K9/6257
摘要： A face detection apparatus and a face detection method thereof are provided. The face detection apparatus includes a rectangle integral image unit, a feature mapping unit and a cascade and score unit. The rectangle integral image unit provides a rectangle integral image according to an original image. The feature mapping unit determines a face candidate region according to rectangular face feature templates, and calculates feature values of the rectangular face feature templates according to the rectangle integral image. The cascade and score unit judges whether the face candidate region conforms to cascade conditions or not, and gives the face candidate region a score according to the feature values when the face candidate region conforms to the cascade conditions. The face candidate region is a non-face region if the score of the face candidate region is lower than a threshold value.
摘要翻译：提供一种面部检测装置及其面部检测方法。面部检测装置包括矩形积分图像单元，特征映射单元和级联和评分单元。矩形整体图像单元根据原始图像提供矩形整体图像。特征映射单元根据矩形面特征模板确定面部候选区域，并根据矩形积分图像计算矩形面部特征模板的特征值。级联和评分单元判断面部候选区域是否符合级联条件，并且当面部候选区域符合级联条件时，根据特征值给出面部候选区域的分数。如果面部候选区域的分数低于阈值，则面部候选区域是非面部区域。

5. 发明授权

US07742894B2 Multi-person pose recognition system using a zigbee wireless sensor network 有权
标题翻译：使用ZigBee无线传感器网络的多人姿态识别系统
公开(公告)号：US07742894B2
公开(公告)日：2010-06-22
申请号：US12048678
申请日：2008-03-14
申请人： Chun-Wei Chen , Kai-Tai Song
发明人： Chun-Wei Chen , Kai-Tai Song
IPC分类号： G01C9/00
CPC分类号： A61B5/1123 , A61B5/1038 , A61B5/1117 , A61B5/726 , A61B5/7264 , A61B2562/0219
摘要： In the present invention, a multi-person pose recognition system has been developed. This system includes a body pose detection module, a CC2420DBK board and a multi-person pose monitoring software module. The body pose detection module includes a triaxial accelerometer, a Zigbee chip and an 8-bit microcontroller. Several body pose detection modules and the CC2420DBK board form a Zigbee wireless sensor network (WSN). The CC2420DBK board functions as the receiver of the Zigbee WSN and communicates with a robot onboard computer or a host computer through a RS-232 port. The multi-person pose monitoring software monitors and records activities of multiple users simultaneously. The present invention provides a pose recognition algorithm by combining time-domain analysis and wavelet transform analysis. This algorithm has been implemented in the microcontroller of a body pose estimation module. Through the algorithm, the system can recognize seven body poses: falling, standing, sitting, lying, walking, going upstairs and going downstairs.
摘要翻译：在本发明中，已经开发了一种多人姿态识别系统。该系统包括身体姿势检测模块，CC2420DBK板和多人姿态监测软件模块。身体姿势检测模块包括三轴加速度计，Zigbee芯片和8位微控制器。几个身体姿势检测模块和CC2420DBK板组成了Zigbee无线传感器网络（WSN）。 CC2420DBK板作为ZigBee WSN的接收器，通过RS-232端口与机器人板载计算机或主机进行通信。多人姿态监控软件同时监控和记录多个用户的活动。本发明通过组合时域分析和小波变换分析提供姿态识别算法。该算法已经在身体姿态估计模块的微控制器中实现。通过算法，系统可以识别七个身体姿势：摔倒，站立，坐着，躺着，走路，上楼去楼下。

6. 发明申请

US20090198374A1 NURSING SYSTEM 有权
标题翻译：护理系统
公开(公告)号：US20090198374A1
公开(公告)日：2009-08-06
申请号：US12062843
申请日：2008-04-04
申请人： Chi-Yi Tsai , Fu-Sheng Huang , Chen-Yang Lin , Zhi-Sheng Lin , Chun-Wei Chen , Kai-Tai Song
发明人： Chi-Yi Tsai , Fu-Sheng Huang , Chen-Yang Lin , Zhi-Sheng Lin , Chun-Wei Chen , Kai-Tai Song
IPC分类号： A61G12/00 , G05D1/02 , B25J13/08
CPC分类号： G06F19/3418 , A61B5/1115 , G06F19/00 , G16H40/63 , G16H50/20
摘要： A nursing system of the present invention can position where a person to be nursed through a sensor network widely deployed in an environment, instantaneously detect if the person to be nursed has an accident, and forward a message to inform a relative or medical staff. An autonomous robot will actively move beside the person to be nursed and transmit real-time images to a remote computer or PDA so that the relative or medical staff can swiftly ascertain the situation of the person to be nursed and the person to be nursed in case of emergency can be rescued as soon as possible.
摘要翻译：本发明的护理系统可以通过广泛部署在环境中的传感器网络来定位要护理的人，即时检测被护理人是否发生事故，并转发消息以通知亲属或医护人员。自主机器人将主动移动到需要护理的人旁边，并将实时图像发送到远程计算机或PDA，以便相关人员或医务人员可以迅速地确定被护理人员的状况和被护理人员的情况的紧急情况可以尽快救出。

7. 发明申请

US20090161915A1 MULTI-PERSON POSE RECOGNITION SYSTEM USING A ZIGBEE WIRELESS SENSOR NETWORK 有权
标题翻译：使用ZIGBEE无线传感器网络的多人位置识别系统
公开(公告)号：US20090161915A1
公开(公告)日：2009-06-25
申请号：US12048678
申请日：2008-03-14
申请人： Chun-Wei Chen , Kai-Tai Song
发明人： Chun-Wei Chen , Kai-Tai Song
IPC分类号： G06K9/00
CPC分类号： A61B5/1123 , A61B5/1038 , A61B5/1117 , A61B5/726 , A61B5/7264 , A61B2562/0219
摘要： In the present invention, a multi-person pose recognition system has been developed. This system includes a body pose detection module, a CC2420DBK board and a multi-person pose monitoring software module. The body pose detection module includes a triaxial accelerometer, a Zigbee chip and an 8-bit microcontroller. Several body pose detection modules and the CC2420DBK board form a Zigbee wireless sensor network (WSN). The CC2420DBK board functions as the receiver of the Zigbee WSN and communicates with a robot onboard computer or a host computer through a RS-232 port. The multi-person pose monitoring software monitors and records activities of multiple users simultaneously. The present invention provides a pose recognition algorithm by combining time-domain analysis and wavelet transform analysis. This algorithm has been implemented in the microcontroller of a body pose estimation module. Through the algorithm, the system can recognize seven body poses: falling, standing, sitting, lying, walking, going upstairs and going downstairs.
摘要翻译：在本发明中，已经开发了一种多人姿态识别系统。该系统包括身体姿势检测模块，CC2420DBK板和多人姿态监测软件模块。身体姿势检测模块包括三轴加速度计，Zigbee芯片和8位微控制器。几个身体姿势检测模块和CC2420DBK板组成了Zigbee无线传感器网络（WSN）。 CC2420DBK板作为ZigBee WSN的接收器，通过RS-232端口与机器人板载计算机或主机进行通信。多人姿态监控软件同时监控和记录多个用户的活动。本发明通过组合时域分析和小波变换分析提供姿态识别算法。该算法已经在身体姿态估计模块的微控制器中实现。通过算法，系统可以识别七个身体姿势：摔倒，站立，坐着，躺着，走路，上楼去楼下。

8. 发明申请

US20080062479A1 Heterogeneity-projection hard-decision interpolation method for color reproduction 失效
标题翻译：用于色彩再现的异质投影硬判决插值方法
公开(公告)号：US20080062479A1
公开(公告)日：2008-03-13
申请号：US11519959
申请日：2006-09-13
申请人： Chi-Yi Tsai , Kai-Tai Song
发明人： Chi-Yi Tsai , Kai-Tai Song
IPC分类号： G03F3/08
CPC分类号： G06T3/4015 , H04N9/045 , H04N2209/046
摘要： The present invention discloses a heterogeneity-projection hard-decision interpolation method for color reproduction, which utilizes a heterogeneity-projection method to determine the optimal edge direction and then utilizes a hard-decision rule to determine the optimal interpolation direction and obtain the information of the green color elements. The high-frequency information of the plane of the green color elements is incorporated into the processing of the planes of the red color elements and the blue color elements to reduce the restoration errors of the red and blue color elements. Therefore, the present invention can decrease the interpolation-direction errors and achieve a higher PSNR and a better visual effect.
摘要翻译：本发明公开了一种用于色彩再现的异质投影硬判决插值方法，利用异质投影法确定最优边缘方向，然后利用硬判决规则确定最佳插值方向，获得绿色元素。绿色元件的平面的高频信息被并入到红色元件和蓝色元件的平面的处理中，以减少红色和蓝色元素的恢复误差。因此，本发明可以减少内插方向误差，实现更高的PSNR和更好的视觉效果。

9. 发明授权

US08437516B2 Facial expression recognition apparatus and facial expression recognition method thereof 有权
标题翻译：面部表情识别装置及其面部表情识别方法
公开(公告)号：US08437516B2
公开(公告)日：2013-05-07
申请号：US12618961
申请日：2009-11-16
申请人： Kai-Tai Song , Meng-Ju Han , Shih-Chieh Wang , Chia-Ho Lin , Chi-Yi Lin
发明人： Kai-Tai Song , Meng-Ju Han , Shih-Chieh Wang , Chia-Ho Lin , Chi-Yi Lin
IPC分类号： G06K9/00
CPC分类号： G06K9/00308
摘要： A facial expression recognition apparatus and a facial expression recognition method thereof are provided. The facial expression recognition apparatus comprises a gray image generating unit, a face edge detection unit, a motion skin extraction unit, a face contour generating unit and a facial expression recognition unit. The gray image generating unit generates a gray image according to an original image. The face edge detection unit outputs a face edge detection result according to the gray image. The motion skin extraction unit generates a motion skin extraction result according to the original image, and generates a face and background division result according to the motion skin extraction result. The face contour generating unit outputs a face contour according to the gray image, the face edge detection result and the face and background division result. The facial expression recognition unit outputs a facial expression recognition result according to the face contour.
摘要翻译：提供一种面部表情识别装置及其面部表情识别方法。面部表情识别装置包括灰度图像生成单元，脸部边缘检测单元，运动皮肤提取单元，面部轮廓生成单元和面部表情识别单元。灰度图像生成单元根据原始图像生成灰色图像。面部边缘检测单元根据灰度图像输出面部边缘检测结果。运动皮肤提取单元根据原始图像生成运动皮肤提取结果，并且根据运动皮肤提取结果生成面部和背景分割结果。面部轮廓生成部根据灰度图像，脸部边缘检测结果以及面部和背景分割结果输出面部轮廓。面部表情识别单元根据面部轮廓输出面部表情识别结果。

10. 发明授权

US08214082B2 Nursing system 有权
标题翻译：护理系统
公开(公告)号：US08214082B2
公开(公告)日：2012-07-03
申请号：US12062843
申请日：2008-04-04
申请人： Chi-Yi Tsai , Fu-Sheng Huang , Chen-Yang Lin , Zhi-Sheng Lin , Chun-Wei Chen , Kai-Tai Song
发明人： Chi-Yi Tsai , Fu-Sheng Huang , Chen-Yang Lin , Zhi-Sheng Lin , Chun-Wei Chen , Kai-Tai Song
IPC分类号： G05B19/04 , A61B5/00
CPC分类号： G06F19/3418 , A61B5/1115 , G06F19/00 , G16H40/63 , G16H50/20
摘要： A nursing system of the present invention can position where a person to be nursed through a sensor network widely deployed in an environment, instantaneously detect if the person to be nursed has an accident, and forward a message to inform a relative or medical staff. An autonomous robot will actively move beside the person to be nursed and transmit real-time images to a remote computer or PDA so that the relative or medical staff can swiftly ascertain the situation of the person to be nursed and the person to be nursed in case of emergency can be rescued as soon as possible.
摘要翻译：本发明的护理系统可以通过广泛部署在环境中的传感器网络来定位要护理的人，即时检测被护理人是否发生事故，并转发消息以通知亲属或医护人员。自主机器人将主动移动到需要护理的人旁边，并将实时图像发送到远程计算机或PDA，以便相关人员或医务人员可以迅速地确定被护理人员的状况和被护理人员的情况的紧急情况可以尽快救出。

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