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1. 发明授权

US09104207B2 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：US09104207B2
公开(公告)日：2015-08-11
申请号：US13308842
申请日：2011-12-01
申请人： Joo Hyung Kim , Kee Hong Seo , Kyung Shik Roh , Jae Ho Park
发明人： Joo Hyung Kim , Kee Hong Seo , Kyung Shik Roh , Jae Ho Park
IPC分类号： G05B15/02 , G05D1/08 , B62D57/032
CPC分类号： G05D1/0891 , B62D57/032 , G05D2201/0217
摘要： A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate.
摘要翻译：一种步行机器人及其控制方法。使用两条腿行走的步行机器人的控制方法包括在步行期间将包括反重力方向的矢量分量的第一虚拟重力矩从两腿之间的支撑腿的各个接头施加，并施加第二虚拟重力矩，包括在步行期间从重力方向到两腿之间的摆动腿的各个关节的矢量分量。因此，步行机器人实现了具有低能量消耗率的自然步行动作。

2. 发明授权

US09058521B2 Mobile robot and simultaneous localization and map building method thereof 有权
标题翻译：移动机器人及其同时定位及其地图构建方法
公开(公告)号：US09058521B2
公开(公告)日：2015-06-16
申请号：US13218844
申请日：2011-08-26
申请人： Suk June Yoon , Kyung Shik Roh , Seung Yong Hyung , Hyo Seok Hwang , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Seung Yong Hyung , Hyo Seok Hwang , Sung Hwan Ahn
IPC分类号： G06K9/00 , G05D1/02 , G06T7/00
CPC分类号： G06K9/00664 , G05D1/0253 , G05D1/0274 , G05D2201/0207 , G06T7/77 , G06T2207/10016 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
摘要： A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.
摘要翻译：包括全向摄像机的移动机器人的同时定位和地图构建方法。该方法包括从全向摄像机获取全方位图像，根据预设参考将所获得的全方位图像划分为上下图像，以生成作为较低图像的第一图像和第二图像，其是上图像，从第一图像提取特征点并计算视觉测距信息，计算视觉测距信息，以基于全向相机的位置跟踪提取的特征点的位置，以及执行移动台的定位和地图构建机器人使用计算的视觉测距信息，第二个图像作为扩展卡尔曼滤波器的输入。

3. 发明授权

US08842908B2 Method of separating front view and background and apparatus 有权
标题翻译：分离前视图和背景和装置的方法
公开(公告)号：US08842908B2
公开(公告)日：2014-09-23
申请号：US13331529
申请日：2011-12-20
申请人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
发明人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/34 , G06T7/00
CPC分类号： G06T7/0081 , G06T7/11 , G06T7/194 , G06T2207/10024
摘要： A method of initially estimating a front view portion of a photographed image and separating the photographed image into a front view and a background without user interaction and apparatus performing the method are provided. The method of separating a front view and a background of an image includes dividing one or more pixels included in a photographed image into pixel groups according to color similarity between the pixels, estimating the position of the front view in the image divided into the pixel groups, and separating the front view and the background based on the estimated position of the front view. The method automatically separates the front view and the background of the image without a user input.
摘要翻译：提供了一种初始估计拍摄图像的前视图部分并将拍摄的图像分离成前视图和背景而不进行用户交互的方法以及执行该方法的装置。分离图像的正视图和背景的方法包括根据像素之间的颜色相似度将包括在拍摄图像中的一个或多个像素划分为像素组，估计分割成像素组的图像中的前视图的位置并且基于前视图的估计位置分离前视图和背景。该方法自动分离图像的前视图和背景，无需用户输入。

4. 发明授权

US08825209B2 Method and apparatus to plan motion path of robot 有权
标题翻译：计算机器人运动路径的方法和装置
公开(公告)号：US08825209B2
公开(公告)日：2014-09-02
申请号：US12805271
申请日：2010-07-21
申请人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
发明人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40264 , G05D1/0214 , G05D2201/0217
摘要： If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
摘要翻译：如果在扩展节点以生成路径时机器人的操纵器落入局部最小值中，则操纵器可以通过随机转义方法和目标函数改变方法或其组合中的任何一种来有效地从本地最小值逃逸以生成路径。当由于局部最小值而不能获得反向运动学的解时，或者由于不准确的目标函数而不能获得反向运动学的解，可以有效地搜索避免障碍物的最佳运动路径。获得解决方案的速度可能会增加，从而可以缩短搜索最佳运动路径所消耗的时间。

5. 发明授权

US08805583B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08805583B2
公开(公告)日：2014-08-12
申请号：US13218836
申请日：2011-08-26
申请人： Bok Man Lim , Kyung Shik Roh , Woong Kwon , Ju Suk Lee
发明人： Bok Man Lim , Kyung Shik Roh , Woong Kwon , Ju Suk Lee
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B62D57/032
摘要： A robot, which performs natural walking similar to a human with high energy efficiency through optimization of actuated dynamic walking, and a control method thereof. The robot includes an input unit to which a walking command of the robot is input, and a control unit to control walking of the robot by calculating torque input values through control variables, obtaining a resultant motion of the robot through calculation of forward dynamics using the torque input values, and minimizing a value of an objective function set to consist of the sum total of a plurality of performance indices through adjustment of the control variables.
摘要翻译：一种通过优化致动的动态行走来执行与能量效率高的人类相似的自然行走的机器人及其控制方法。机器人包括输入机器人的行走命令的输入单元和控制单元，用于通过控制变量计算转矩输入值来控制机器人的行走，通过使用前述动力学的计算来获得机器人的合成运动扭矩输入值，并且通过调整控制变量将设定为由多个性能指标的总和组成的目标函数的值最小化。

6. 发明授权

US08801057B2 Bumper structure of cleaning robot 有权
标题翻译：清洁机器人的保险杠结构
公开(公告)号：US08801057B2
公开(公告)日：2014-08-12
申请号：US13317412
申请日：2011-10-18
申请人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum Yong Park , Kyung Shik Roh , Young Do Kwon
发明人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum Yong Park , Kyung Shik Roh , Young Do Kwon
IPC分类号： B60R19/00 , B60R21/0136
CPC分类号： B60R21/0136 , A47L9/009 , A47L9/2805 , A47L2201/04 , G01D5/165
摘要： A bumper structure of a cleaning robot which detects whether or not an obstacle contacts a bumper and a position of the obstacle, allows the bumper to be simply process and reduces the number of components of the cleaning robot to lower the production costs of the cleaning robot. The bumper structure includes a main body, a bumper installed on the front surface of the main body, a resistance film provided between the main body and the bumper and fixed to the main body, and a metal film provided between the main body and the bumper and fixed to the bumper such that the shape of the metal film is deformed together with the bumper and the metal film comes into contact with the resistance film when at least one obstacle contacts the bumper, so as to measure resistance values.
摘要翻译：清洁机器人的保险杠结构，其检测障碍物是否碰到保险杠和障碍物的位置，允许缓冲器简单地处理并减少清洁机器人的部件数量，以降低清洁机器人的生产成本。保险杠结构包括主体，安装在主体前表面上的保险杠，设置在主体和保险杠之间并固定在主体上的电阻膜，以及设置在主体和保险杠之间的金属膜并且当至少一个障碍物接触保险杠时，金属膜的形状与保险杠一起变形并且金属膜与电阻膜接触，以便测量电阻值，并且固定到保险杠。

7. 发明授权

US08761925B2 Robot and method of building map therefor 有权
标题翻译：机器人和建立地图的方法
公开(公告)号：US08761925B2
公开(公告)日：2014-06-24
申请号：US12289274
申请日：2008-10-23
申请人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
发明人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
摘要翻译：公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

8. 发明授权

US08755630B2 Object pose recognition apparatus and object pose recognition method using the same 有权
标题翻译：对象姿态识别装置和对象姿态识别方法使用相同
公开(公告)号：US08755630B2
公开(公告)日：2014-06-17
申请号：US13218859
申请日：2011-08-26
申请人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
发明人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/36
CPC分类号： G06K9/00208 , G06T7/74 , G06T2207/10012 , G06T2207/10028
摘要： An object pose recognition apparatus and method. The object pose recognition method includes acquiring first image data of an object to be recognized and 3-dimensional (3D) point cloud data of the first image data, and storing the first image data and the 3D point cloud data in a database, receiving input image data of the object photographed by a camera, extracting feature points from the stored first image data and the input image data, matching the stored 3D point cloud data and the input image data based on the extracted feature points and calculating a pose of the photographed object, and shifting the 3D point cloud data based on the calculated pose of the object, restoring second image data based on the shifted 3D point cloud data, and re-calculating the pose of the object using the restored second image data and the input image data.
摘要翻译：一种物体姿态识别装置及方法。物体姿态识别方法包括获取要识别的对象的第一图像数据和第一图像数据的三维（3D）点云数据，并将第一图像数据和3D点云数据存储在数据库中，接收输入通过照相机拍摄的物体的图像数据，从存储的第一图像数据和输入图像数据中提取特征点，基于提取的特征点与存储的3D点云数据和输入图像数据匹配并计算拍摄的姿势对象，并且基于所计算的对象的姿态来移动3D点云数据，基于移动的3D点云数据恢复第二图像数据，以及使用恢复的第二图像数据和输入图像重新计算对象的姿态数据。

9. 发明授权

US08588512B2 Localization method for a moving robot 有权
标题翻译：移动机器人的本地化方法
公开(公告)号：US08588512B2
公开(公告)日：2013-11-19
申请号：US12010088
申请日：2008-01-18
申请人： Sukjune Yoon , Woosup Han , Seung Ki Min , Kyung Shik Roh
发明人： Sukjune Yoon , Woosup Han , Seung Ki Min , Kyung Shik Roh
IPC分类号： G06K9/00 , G06F19/00
CPC分类号： G06K9/00791 , G05D1/0246 , G06T7/246 , G06T7/74 , G06T2207/30252
摘要： A localization method of a moving robot is disclosed in which the moving robot includes: capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a high correlation with the first omni-directional image is captured; and determining that the moving robot is located at the first node when the moving robot reaches a first node, at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from among the at least one node.
摘要翻译：公开了一种移动机器人的定位方法，其中移动机器人包括：通过移动机器人捕获第一全方位图像; 确认至少一个节点，其中捕获与第一全方向图像具有高相关性的第二全方位图像; 以及当所述移动机器人到达第一节点时，确定所述移动机器人位于所述第一节点处，在所述第一节点处，从所述至少一个节点中捕获与所述第一全方向图像具有最高相关性的第二全向图像。

10. 发明授权

US08553980B2 Method and apparatus extracting feature points and image based localization method using extracted feature points 有权
标题翻译：方法和装置提取特征点和基于图像的定位方法使用提取的特征点
公开(公告)号：US08553980B2
公开(公告)日：2013-10-08
申请号：US12844259
申请日：2010-07-27
申请人： Sung Hwan Ahn , Kyung Shik Roh , Suk June Yoon , Seung Yong Hyung
发明人： Sung Hwan Ahn , Kyung Shik Roh , Suk June Yoon , Seung Yong Hyung
IPC分类号： G06K9/34
CPC分类号： G06K9/4671 , G06T7/11 , G06T2207/30252
摘要： Disclosed herein are a method and apparatus for extracting feature points using hierarchical image segmentation and an image based localization method using the extracted feature points. An image is segmented using an affinity degree obtained using information observed during position estimation, new feature points are extracted from segmented areas in which registered feature points are not included, and position estimation is performed based on the new feature points. Accordingly, stable and reliable localization may be performed.
摘要翻译：本文公开了一种使用分层图像分割提取特征点的方法和装置，以及使用提取的特征点的基于图像的定位方法。使用在位置估计期间观察到的信息获得的亲和度对图像进行分割，从不包括登记特征点的分割区域提取新的特征点，并且基于新的特征点进行位置估计。因此，可以执行稳定和可靠的定位。

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