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1. 发明授权

US07860608B2 Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot 失效
标题翻译：家用清洁机器人清洁轨迹的生成方法和装置
公开(公告)号：US07860608B2
公开(公告)日：2010-12-28
申请号：US10819984
申请日：2004-04-08
申请人： Hyoung-ki Lee , Sun-gi Hong , Seok-won Bang , Il-hwan Kim , Ki-wan Choi
发明人： Hyoung-ki Lee , Sun-gi Hong , Seok-won Bang , Il-hwan Kim , Ki-wan Choi
IPC分类号： G06F19/00 , G05B19/04 , G05B19/18
CPC分类号： G05D1/0225 , A47L2201/02 , A47L2201/04 , G05D1/0219 , G05D1/0255 , G05D2201/0203 , G05D2201/0215
摘要： A method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls until the home cleaning robot arrives at a point where it cannot travel in a direction in which a distance between the docking station and the home cleaning robot increases.
摘要翻译：一种产生和追踪家用清洁机器人的清洁轨迹的方法和装置，该方法包括：控制家用清洁机器人从对接站直线行进一定距离，然后旋转地行进，保持与对接站的距离，直到家用清洁机器人到达两面墙之一; 如果家用清洁机器人到达墙壁并且在对接站周围继续旋转运行，则控制家用清洁机器人沿着墙壁的设定距离行进多达一点距离，保持对接站和家庭清洁机器人之间的距离增加了设置距离直到它到达两个墙壁之一; 并且如果家用清洁机器人到达墙壁并且在对接站周围继续旋转移动，则反复地控制家用清洁机器人沿着墙壁的设定距离行进多达一点，保持对接站和家用清洁机器人之间的距离增加直到到达两个墙壁之一的设定距离，直到家庭清洁机器人到达其不能在对接站和家用清洁机器人之间的距离增加的方向上行进的点时。

2. 发明授权

US07727159B2 Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same 有权
标题翻译：用于检测没有运动假象的血流信号的装置和方法，以及使用其的应力测试装置
公开(公告)号：US07727159B2
公开(公告)日：2010-06-01
申请号：US10909305
申请日：2004-08-03
申请人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang
发明人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang
IPC分类号： A61B5/02
CPC分类号： A61B5/02405 , A61B5/02416 , A61B5/0261 , A61B5/7207
摘要： An apparatus and method to detect a blood flow signal free from a motion artifact, and a stress test apparatus using the same, enhance data reliability of the blood flow signal by removing the motion artifact from the blood flow signal detected by photo-plethysmography. The apparatus to detect the blood flow signal includes a base pattern correlation coefficient calculating unit to determine peak points in the blood flow signal sensed from a body of an examinee using a blood flow sensing unit, and to calculate correlation coefficients of each peak point using a predetermined base pattern, and a motion artifact processing unit to determine the motion artifact using the calculated correlation coefficients and to remove the motion artifact from the blood flow signal. Thus, reliability of the blood flow signal is enhanced by effectively removing the motion artifact from the blood flow signal detected by the photo-plethysmography.
摘要翻译：一种用于检测没有运动伪影的血流信号的装置和方法，以及使用其的应力测试装置，通过从通过光体积描记术检测的血流信号中消除运动伪影来增强血流信号的数据可靠性。用于检测血流信号的装置包括基本图案相关系数计算单元，用于使用血液流量检测单元确定从被检体的身体感测的血流信号中的峰值点，并且使用预定的基本图案和运动假象处理单元，以使用所计算的相关系数来确定运动伪影，并从血流信号中去除运动伪像。因此，通过从通过光体积描记术检测的血流信号有效地去除运动伪影，可以提高血流信号的可靠性。

3. 发明授权

US07657099B2 Method and apparatus for processing line pattern using convolution kernel 有权
标题翻译：使用卷积核处理线条图案的方法和装置
公开(公告)号：US07657099B2
公开(公告)日：2010-02-02
申请号：US11350847
申请日：2006-02-10
申请人： Dong-ryeol Park , Seok-won Bang
发明人： Dong-ryeol Park , Seok-won Bang
IPC分类号： G06K9/56 , G06K9/40
CPC分类号： G06K9/00664 , G06K9/2036 , G06K9/56
摘要： A method and apparatus for processing a line pattern using a convolution kernel. An apparatus for processing a line pattern, the apparatus including a light source module radiating predetermined light and a camera module capturing an image of an object, onto which the light is radiated, the apparatus processing a line pattern included in the captured image, includes: a kernel learning unit determining a kernel shape and an optimal threshold value with respect to each vertical interval of the image using a simple line pattern formed at a predetermined location; a convolution application unit applying convolution to a captured test image using the determined kernel shape and optimal threshold value; and a region selection unit scanning each pixel column in the image, to which the convolution is applied, in a vertical direction, and setting pixel values of pixel groups other than a selected pixel group to 0 when a plurality of pixel groups having pixel values other than 0 exists.
摘要翻译：一种使用卷积核处理线条图案的方法和装置。一种用于处理线条图案的装置，该装置包括：放射预定光源的光源模块和捕获放射光的物体的图像的照相机模块，该处理包含在拍摄图像中的线条图案的装置包括：核心学习单元使用形成在预定位置处的简单线图案来确定相对于图像的每个垂直间隔的核心形状和最佳阈值; 卷积应用单元使用所确定的核心形状和最佳阈值对捕获的测试图像应用卷积; 以及区域选择单元，在垂直方向扫描卷积的图像中的每个像素列，并且当具有像素值为其他的多个像素组时，将除了所选像素组之外的像素组的像素值设置为0 比0存在。

4. 发明申请

US20090149994A1 Method, medium, and apparatus for correcting pose of moving robot 有权
标题翻译：用于校正移动机器人姿态的方法，介质和装置
公开(公告)号：US20090149994A1
公开(公告)日：2009-06-11
申请号：US12153600
申请日：2008-05-21
申请人： Dong-jo Kim , Hyong-ki Lee , Dong-ryeol Park , Seok-won Bang
发明人： Dong-jo Kim , Hyong-ki Lee , Dong-ryeol Park , Seok-won Bang
IPC分类号： B25J5/00
CPC分类号： G05D1/0274 , G05D1/024 , G05D1/0242 , G05D1/0255
摘要： A method, apparatus, and medium for correcting a pose of a moving robot are provided. The method includes sensing an entrance using a distance-sensing sensor mounted on the moving robot, storing first distance data of the sensed entrance, after the moving robot travels, newly sensing the entrance using the distance-sensing sensor, and correcting the pose of the moving robot using the first distance data and second distance data corresponding to the entrance newly sensed after the moving robot travels.
摘要翻译：提供了一种用于校正移动机器人姿势的方法，装置和介质。该方法包括使用安装在移动机器人上的距离感测传感器来感测入口，存储感测到的入口的第一距离数据，在移动机器人行进之后，使用距离感测传感器重新感测入口，并且修正移动机器人使用与移动机器人行进后新感应的入口对应的第一距离数据和第二距离数据。

5. 发明授权

US07507948B2 Method of detecting object using structured light and robot using the same 有权
标题翻译：使用结构光检测物体的方法和使用其的机器人
公开(公告)号：US07507948B2
公开(公告)日：2009-03-24
申请号：US11590744
申请日：2006-11-01
申请人： Dong-ryeol Park , Hyoung-ki Lee , Dong-jo Kim , Seok-won Bang
发明人： Dong-ryeol Park , Hyoung-ki Lee , Dong-jo Kim , Seok-won Bang
IPC分类号： G06M7/00 , H01J40/14
CPC分类号： G01B11/25 , A47L9/009 , A47L9/2826 , A47L9/2852 , A47L9/30 , A47L2201/04 , B25J5/007 , B25J19/021 , G05D1/0248 , G05D1/0274 , G05D2201/0203
摘要： A method of detecting an object using a structured light and a robot using the same are disclosed. The method of detecting a floor object using a structured light includes measuring a height difference of a position onto which a specified structured light is projected with a reference position, and detecting the floor object using the measured height difference.
摘要翻译：公开了使用结构光检测物体的方法和使用其的机器人。使用结构化光检测楼层物体的方法包括测量具有参考位置的指定结构光投射的位置的高度差，以及使用测得的高度差来检测楼层物体。

6. 发明申请

US20090076651A1 Apparatus and method for calculating position of robot 有权
标题翻译：计算机器人位置的装置和方法
公开(公告)号：US20090076651A1
公开(公告)日：2009-03-19
申请号：US12232255
申请日：2008-09-12
申请人： Hyoung-Ki Lee , Ki-Wan Choi , Ji-Young Park , Seok-Won Bang
发明人： Hyoung-Ki Lee , Ki-Wan Choi , Ji-Young Park , Seok-Won Bang
IPC分类号： G06F19/00
CPC分类号： B25J13/089 , G05D1/024 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274
摘要： Provided are an apparatus and method of calculating the position of a robot, which determine the position of a robot and create a map of the surroundings of the robot which account for the travel state of the robot. The apparatus includes a state variable calculation module which calculates a plurality of state variables regarding a travel state of the robot by using a plurality of Kalman filters; a travel state determination module which determines the travel state of the robot based on the results of the calculation performed by the state variable calculation module; and a state variable update module which updates the state variables according to the result of the determination performed by the travel state determination module.
摘要翻译：提供了一种计算机器人的位置的装置和方法，该机器人确定机器人的位置并且创建考虑到机器人的行进状态的机器人的周围的地图。该装置包括状态变量计算模块，通过使用多个卡尔曼滤波器来计算关于机器人的行进状态的多个状态变量; 行驶状态确定模块，其基于由状态变量计算模块执行的计算结果来确定机器人的行驶状态; 以及状态变量更新模块，根据行驶状态判定模块执行的判定结果来更新状态变量。

7. 发明申请

US20090055020A1 Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot 有权
标题翻译：用于同时执行移动机器人地图清洁和创建的装置，方法和介质
公开(公告)号：US20090055020A1
公开(公告)日：2009-02-26
申请号：US12215400
申请日：2008-06-27
申请人： Woo-yeon Jeong , Su-Jin Lee , Hyeon Myeong , Seok-Won Bang
发明人： Woo-yeon Jeong , Su-Jin Lee , Hyeon Myeong , Seok-Won Bang
IPC分类号： G06F19/00 , G01C21/00
CPC分类号： G05D1/0246 , G05D1/0227 , G05D1/0242 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0276 , G05D2201/0203
摘要： Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information.
摘要翻译：提供了一种用于允许移动机器人同时执行清洁处理和地图创建处理的装置，方法和介质。该装置包括：特征图创建单元，其创建用于识别移动机器人的位置的特征图; 路径图创建单元，基于从所述特征图获得的所述移动机器人的姿态的信息，创建包括多个单元的路径图，每个单元具有关于是否存在障碍物的信息和路径信息; 以及基于关于障碍物是否存在的信息和路径信息来移动移动机器人的运动控制单元。

8. 发明申请

US20090024353A1 Method of measuring pose of mobile robot and method and apparatus for measuring position of mobile robot using the same 有权
标题翻译：测量移动机器人姿态的方法及使用其的移动机器人的位置测量方法和装置
公开(公告)号：US20090024353A1
公开(公告)日：2009-01-22
申请号：US12219235
申请日：2008-07-17
申请人： Hyoung-Ki Lee , Ki-Wan Choi , Seok-Won Bang , Woo-Yeon Jeong , Ji-Young Park
发明人： Hyoung-Ki Lee , Ki-Wan Choi , Seok-Won Bang , Woo-Yeon Jeong , Ji-Young Park
IPC分类号： G01P13/00
CPC分类号： G05D1/0891 , G06T7/73 , G06T2207/10016 , G06T2207/30244 , G06T2207/30252
摘要： A method of measuring pose of mobile robot, and method and apparatus for measuring for measuring position of mobile robot using the same are provided. The apparatus for measuring the pose of a mobile robot includes an accelerometer measuring acceleration of the mobile robot in a forward direction, a uniform-motion-determining unit determining whether the mobile robot belongs to a uniform motion section, an acceleration section, or a deceleration section, and a pose-calculating unit calculating a pitch and a roll of the mobile robot in the uniform motion section, using the relationship between the measured acceleration in the forward direction and the acceleration due to gravity.
摘要翻译：提供了一种测量移动机器人姿态的方法，以及用于测量用于测量移动机器人的移动机器人的位置的方法和装置。用于测量移动机器人的姿态的装置包括：加速度计，测量移动机器人在向前方向的加速度;均匀运动确定单元，确定移动机器人是否属于均匀运动部分，加速部分或减速度姿势计算单元，使用所测量的向前方向的加速度与重力加速度之间的关系来计算均匀运动部分中的移动机器人的俯仰和滚动。

9. 发明申请

US20080159595A1 Apparatus and method of measuring distance using structured light 有权
标题翻译：使用结构光测量距离的装置和方法
公开(公告)号：US20080159595A1
公开(公告)日：2008-07-03
申请号：US11987116
申请日：2007-11-27
申请人： Dong-ryeol Park , Woo-yeon Jeong , Seok-won Bang , Hyoung-ki Lee
发明人： Dong-ryeol Park , Woo-yeon Jeong , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G06K9/00
CPC分类号： G01B11/25 , G01B11/026 , G01S7/4802 , G01S7/491 , G01S17/48 , G01S17/89 , G01S17/936 , G06T7/521
摘要： Provided are an apparatus and method of measuring a distance using structured light. The apparatus includes a binarization unit binarizing an image, an image identification unit identifying an image having connected pixels in the binarized image, a length ratio calculation unit obtaining the length ratio of the major axis of the image having the connected pixels to a minor axis perpendicular to the major axis, a pixel mean calculation unit obtaining the mean of pixel values of the image having the connected pixels, and an image extraction unit extracting an image formed by the light irradiated from the light source, from the images having connected pixels using the length ratio and the mean of the pixel values.
摘要翻译：提供了使用结构光测量距离的装置和方法。该装置包括二值化单元二值化图像，识别在二值化图像中具有连接像素的图像的图像识别单元，长度比计算单元，获得具有连接像素的图像的长轴与短轴垂直的长度比对于长轴，像素平均值计算单元获得具有连接像素的图像的像素值的平均值，以及图像提取单元，从具有连接像素的图像中提取由光源照射的光形成的图像，长度比和像素值的平均值。

10. 发明申请

US20080143582A1 Method, and apparatus for measuring distance using radio frequency signal 有权
标题翻译：使用射频信号测量距离的方法和装置
公开(公告)号：US20080143582A1
公开(公告)日：2008-06-19
申请号：US11907947
申请日：2007-10-18
申请人： Jun-ho Park , Seok-won Bang , Ji-young Park
发明人： Jun-ho Park , Seok-won Bang , Ji-young Park
IPC分类号： G01S13/08
CPC分类号： G01S13/74 , G01S7/40
摘要： Provided are a method, apparatus, and medium for measuring a distance using a radio frequency (RF) signal. The method of measuring a distance includes setting the transmitter power of an RF signal of a signal generating module to a minimum so as to measure the longest distance when no obstacle exists, measuring a distance between the signal generating module and a fixed module using the RF signal whose transmitter power is set to the minimum, if the measured distance between the signal generating module and the fixed module is available, determining that no obstacle exists therebetween, and if the measured distance is not available, determining that an obstacle exists therebetween, and determining the distance according to the result of the determination of existence of an obstacle.
摘要翻译：提供了一种使用射频（RF）信号测量距离的方法，装置和介质。测量距离的方法包括将信号发生模块的RF信号的发射机功率设置为最小，以便在没有障碍物时测量最长距离，使用RF测量信号发生模块和固定模块之间的距离如果信号发生模块和固定模块之间的测量距离可用，确定其间没有障碍物，并且如果测量距离不可用，则确定其间存在障碍物，以及根据确定障碍物的存在的结果确定距离。

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