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1. 发明授权

US07643906B2 Obstacle and cliff avoiding system and method thereof 有权
标题翻译：障碍物和悬崖避免系统及其方法
公开(公告)号：US07643906B2
公开(公告)日：2010-01-05
申请号：US11517305
申请日：2006-09-08
申请人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
发明人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
IPC分类号： B60R25/04 , B60R25/06
CPC分类号： G01C1/00
摘要： An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.
摘要翻译：公开了一种障碍物和悬崖系统，其基本上是具有布置在其上的至少一个位移传感器的可移动底盘。在优选实施例中，每个位移传感器相对于由此检测到的表面倾斜特定的角度，同时被旋转装置驱动成圆周移动，以使其能够扫描限定的扇形区域或周围的圆形区域底盘循环。当每个位移传感器倾斜特定角度并开始发出工作信号时，每个传感器的信号发射和接收的路径由特定角度定义，而由传感器接收的反射工作信号被发送到控制器单元与工作信号进行比较，使得控制单元能够评估可移动底盘的移动方向前方是否存在障碍物或落下，从而控制底盘围绕障碍物或液滴进行操纵。

2. 发明申请

US20070265740A1 Obstacle and cliff avoiding system and method thereof 有权
标题翻译：障碍物和悬崖避免系统及其方法
公开(公告)号：US20070265740A1
公开(公告)日：2007-11-15
申请号：US11517305
申请日：2006-09-08
申请人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
发明人： Hung-Hsiu Yu , Kuo-Shih Tseng , Yu-Lun Ho , Mao-Feng Tu , Chun-Hung Liu
IPC分类号： G01C22/00
CPC分类号： G01C1/00
摘要： An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.
摘要翻译：公开了一种障碍物和悬崖系统，其基本上是具有布置在其上的至少一个位移传感器的可移动底盘。在优选实施例中，每个位移传感器相对于由此检测到的表面倾斜特定的角度，同时被旋转装置驱动成圆周移动，以使其能够扫描限定的扇形区域或周围的圆形区域底盘循环。当每个位移传感器倾斜特定角度并开始发出工作信号时，每个传感器的信号发射和接收的路径由特定角度定义，而由传感器接收的反射工作信号被发送到控制器单元与工作信号进行比较，使得控制单元能够评估可移动底盘的移动方向前方是否存在障碍物或落下，从而控制底盘围绕障碍物或液滴进行操纵。

3. 发明申请

US20070150096A1 Mobile robot platform and method for sensing movement of the same 有权
标题翻译：移动机器人平台及其运动检测方法
公开(公告)号：US20070150096A1
公开(公告)日：2007-06-28
申请号：US11385797
申请日：2006-03-22
申请人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu
发明人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu
IPC分类号： G06F19/00
CPC分类号： G05D1/0259 , B25J5/007 , G05D1/0272
摘要： A mobile robot platform and a method for sensing movement of the same are disclosed, which utilize two omni-directional meter wheels perpendicular to each other and a magnetic sensing module for detecting a moving condition of the platform moving on a planar surface while transmitting the detected moving condition to a signal processing unit to calculate the position, velocity, angular position and angular velocity of the platform.
摘要翻译：公开了一种用于检测其移动的移动机器人平台和方法，其利用彼此垂直的两个全方位的仪表轮和用于检测平台在平面上移动的移动状态的磁感测模块，同时传送检测到的移动状态到信号处理单元来计算平台的位置，速度，角位置和角速度。

4. 发明授权

US07747349B2 Mobile robot platform and method for sensing movement of the same 有权
标题翻译：移动机器人平台及其运动检测方法
公开(公告)号：US07747349B2
公开(公告)日：2010-06-29
申请号：US11385797
申请日：2006-03-22
申请人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu
发明人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu
IPC分类号： G06F19/00
CPC分类号： G05D1/0259 , B25J5/007 , G05D1/0272
摘要： A mobile robot platform and a method for sensing movement of the same are disclosed, which utilize two omni-directional meter wheels perpendicular to each other and a magnetic sensing module for detecting a moving condition of the platform moving on a planar surface while transmitting the detected moving condition to a signal processing unit to calculate the position, velocity, angular position and angular velocity of the platform.
摘要翻译：公开了一种用于检测其移动的移动机器人平台和方法，其利用彼此垂直的两个全方位的仪表轮和用于检测平台在平面上移动的移动状态的磁感测模块，同时传送检测到的移动状态到信号处理单元来计算平台的位置，速度，角位置和角速度。

5. 发明申请

US20070142190A1 Apparatus for multi-joint lower limb exercise 审中-公开
标题翻译：多关节下肢运动器械
公开(公告)号：US20070142190A1
公开(公告)日：2007-06-21
申请号：US11385908
申请日：2006-03-22
申请人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu , Yang-Hua Lin
发明人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu , Yang-Hua Lin
IPC分类号： A63B21/008
CPC分类号： A63B23/04 , A63B21/0083 , A63B23/0494 , A63B23/08
摘要： An apparatus for multi-joint lower limb exercise disclosed, which comprises: a first supporting part; a second supporting part, rotatably connected to the first supporting part; a driving device, connected to the second supporting part, for providing a driving force to push the second supporting part to rotate about the first supporting part while simultaneously providing a resistance exerting on the second supporting part for damping the rotation of the same. As a user is fitted with the aforesaid apparatus to perform a lower limb exercise, such as exercising its knee joint or ankle joint, a comparatively better exercise effect can be achieved as the driving force of the driving device is able to reinforce the lower limb exercise performed by the user no matter it is actively performed by the user or is passively driven by the driving device.
摘要翻译：本发明公开了一种多关节下肢运动装置，包括：第一支撑部; 第二支撑部，可旋转地连接到第一支撑部; 连接到第二支撑部分的驱动装置，用于提供驱动力以推动第二支撑部分围绕第一支撑部分旋转，同时提供施加在第二支撑部分上的阻力以阻止其旋转。当使用者配备上述的装置进行诸如运动膝关节或踝关节的下肢运动时，由于驱动装置的驱动力能够增强下肢运动，所以可以获得比较好的运动效果无论用户主动执行还是被驱动装置被动地驱动，用户执行。

6. 发明申请

US20070142189A1 Apparatus for multi-joint lower limb exercise 审中-公开
标题翻译：多关节下肢运动器械
公开(公告)号：US20070142189A1
公开(公告)日：2007-06-21
申请号：US11385843
申请日：2006-03-22
申请人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu , Yang-Hua Lin
发明人： Syh-Shiuh Yeh , Meng-Chun Chen , Kuo-Shih Tseng , Mao-Feng Tu , Yang-Hua Lin
IPC分类号： A63B21/008
CPC分类号： A63B21/0083 , A63B21/00069 , A63B21/00072 , A63B23/04 , A63B23/0494 , A63B23/08
摘要： An apparatus for multi-joint lower limb exercise is disclosed, which comprises: a first supporting part; a second supporting part, rotatably connected to the first supporting part; and a hydraulic device, connected to the first and the second supporting parts respectively by the two ends thereof, for providing a hydraulic pressure to the first and the second supporting parts while the first supporting part is rotated about the second supporting part. As a user is fitted with the aforesaid apparatus to perform a lower limb exercise, such as exercising its knee joint or ankle joint, a comparatively better exercise effect can be achieved as the magnitude of the hydraulic pressure provided by the hydraulic device is adjustable by the use of a throttle valve of the hydraulic device.
摘要翻译：公开了一种多关节下肢运动装置，包括：第一支撑部; 第二支撑部，可旋转地连接到第一支撑部; 以及液压装置，其分别通过其两端连接到第一和第二支撑部，用于在第一支撑部围绕第二支撑部旋转的同时向第一和第二支撑部提供液压。当使用者配备上述装置进行诸如运动膝关节或踝关节的下肢运动时，由于液压装置提供的液压压力的大小可由使用液压装置的节流阀。

7. 发明申请

US20080134801A1 TACTILE SENSING DEVICE FOR HUMAN ROBOT INTERACTION AND METHOD THEREOF 审中-公开
标题翻译：用于人机交互的触觉感测装置及其方法
公开(公告)号：US20080134801A1
公开(公告)日：2008-06-12
申请号：US11617733
申请日：2006-12-29
申请人： Kuo-Shih Tseng , Chiu-Wang Chen , Yi-Ming Chu , Wei-Han Wang , Hung-Hsiu Yu
发明人： Kuo-Shih Tseng , Chiu-Wang Chen , Yi-Ming Chu , Wei-Han Wang , Hung-Hsiu Yu
IPC分类号： G01D7/00
CPC分类号： B25J13/02
摘要： A tactile sensing for human robot interaction device and a method thereof are provided. The tactile sensing device at least includes a touch interface, a tactile sensor module, a controller, and an actuating unit. The tactile sensor module coupled to the touch interface is used to sense an external touch, so as to generate a series of timing data corresponding to the external touch. The controller coupled to the tactile sensor module is used to receive the series of timing data, and to determine a touch pattern based on a geometric calculation, so as to generate a control signal. The actuating unit coupled to the controller responses an interactive reaction corresponding to the touch pattern based on the control signal.
摘要翻译：提供了一种人机交互装置的触觉感知及其方法。触觉感测装置至少包括触摸界面，触觉传感器模块，控制器和致动单元。耦合到触摸界面的触敏传感器模块用于感测外部触摸，以便产生对应于外部触摸的一系列定时数据。耦合到触觉传感器模块的控制器用于接收一系列定时数据，并且基于几何计算来确定触摸模式，以便产生控制信号。耦合到控制器的致动单元基于控制信号响应对应于触摸图案的交互反应。

8. 发明申请

US20100164807A1 SYSTEM AND METHOD FOR ESTIMATING STATE OF CARRIER 审中-公开
标题翻译：用于估计载体状态的系统和方法
公开(公告)号：US20100164807A1
公开(公告)日：2010-07-01
申请号：US12398187
申请日：2009-03-05
申请人： Kuo-Shih Tseng , Chih-Wei Tang , Chin-Lung Lee , Chia-Lin Kuo , An-Tao Yang
发明人： Kuo-Shih Tseng , Chih-Wei Tang , Chin-Lung Lee , Chia-Lin Kuo , An-Tao Yang
IPC分类号： G01S1/08
CPC分类号： G01S5/0284 , G01C21/165 , G01S5/0247
摘要： A system and a method for estimating a state of a carrier are provided. The system includes the carrier, an electromagnetic wave sensing device, a motion sensing device, and a controller. The electromagnetic wave sensing device detects an electromagnetic wave emitted by at least one feature object in an environment around the carrier. The motion sensing device detects motion information of the carrier moving in the environment. The controller estimates state information of the carrier in the environment through a probabilistic algorithm according to the electromagnetic wave and motion information detected by aforementioned sensing devices. Thereby, in the present invention, the location and posture of the carrier in the environment can be precisely estimated according to the motion information of the carrier and existing information of the environment around the same.
摘要翻译：提供了一种用于估计载波状态的系统和方法。该系统包括载体，电磁波感测装置，运动感测装置和控制器。电磁波感测装置在载体周围的环境中检测由至少一个特征物体发射的电磁波。运动感测装置检测在环境中移动的载体的运动信息。控制器根据由上述检测装置检测出的电磁波和运动信息，通过概率算法来估计载波在环境中的状态信息。因此，在本发明中，可以根据载体的运动信息及其周围的环境的现有信息来精确地估计载体在环境中的位置和姿势。

9. 发明授权

US08044780B2 Method and apparatus for predicting/alarming the moving of hidden objects 有权
标题翻译：用于预测/报警隐藏物体移动的方法和装置
公开(公告)号：US08044780B2
公开(公告)日：2011-10-25
申请号：US12019975
申请日：2008-01-25
申请人： Kuo-Shih Tseng , Hsiang-Wen Hsieh , Wei-Han Wang
发明人： Kuo-Shih Tseng , Hsiang-Wen Hsieh , Wei-Han Wang
IPC分类号： B60Q1/00 , G08G1/00 , G08G1/16 , G01S13/00
CPC分类号： G08C17/02 , G08C23/04 , G08G1/167
摘要： The invention relates to a method and apparatus for predicting/alarming the moving of hidden objects. The apparatus comprises: a distance sensing unit, for obtaining a distance data detected within a specific sensing range and thus outputting the distance data; a speed sensing unit, for measuring the movement of a carrier to obtain a real-time speed data of the carrier and thus output the speed data; a control unit, for receiving and analyzing the distance data and the speed data to obtain information relating to the position of the carrier, the environment surrounding the carrier and positions of objects moving in the blind spots of the carrier, and thus to perform an evaluation based upon the aforesaid information to determine a danger level for issuing a control signal accordingly; and an alarm unit, for issuing an alarm signal according to the control signal.
摘要翻译：本发明涉及一种用于预测/警报隐藏物体移动的方法和装置。该装置包括：距离感测单元，用于获得在特定感测范围内检测到的距离数据，从而输出距离数据; 速度检测单元，用于测量载波的移动以获得载波的实时速度数据，从而输出速度数据; 控制单元，用于接收和分析距离数据和速度数据，以获得与载体的位置，载体周围的环境以及在载体的盲点中移动的物体的位置相关的信息，从而进行评估基于上述信息来确定相应地发出控制信号的危险等级; 以及报警单元，用于根据控制信号发出报警信号。

10. 发明申请

US20100250020A1 SPACE SENSOR APPARATUS, MOBILE CARRIER, AND CONTROL METHOD THEREOF 审中-公开
标题翻译：空间传感器装置，移动载体及其控制方法
公开(公告)号：US20100250020A1
公开(公告)日：2010-09-30
申请号：US12548430
申请日：2009-08-27
申请人： Chin-Lung Lee , Kuo-Shih Tseng , Chia-Lin Kuo
发明人： Chin-Lung Lee , Kuo-Shih Tseng , Chia-Lin Kuo
IPC分类号： G05D3/00 , G01S15/00 , G05D13/62
CPC分类号： G01S15/931 , G01S13/46 , G01S2013/468 , G01S2015/465
摘要： A space sensor apparatus suitable for a mobile carrier is provided. The space sensor apparatus includes a posture angle calculation module, a position calculation module, and a processing system. The posture angle calculation module calculates the current posture angles of the mobile carrier corresponding to different direction axes in a space according to signals input by one or multiple sensors. The position calculation module calculates the current position of the mobile carrier in the space according to the posture angles and an acceleration parameter and outputs a positioning information to the processing system. The processing system further obtains an environment information through a mechanical wave transceiver. After that, the processing system generates a real-time calculation information for controlling the movement track of the mobile carrier in the space according to the positioning information and the environment information.
摘要翻译：提供适用于移动运营商的空间传感器装置。空间传感器装置包括姿势角计算模块，位置计算模块和处理系统。姿势角计算模块根据由一个或多个传感器输入的信号来计算空间中与不同方向轴对应的移动载波的当前姿态角度。位置计算模块根据姿态角度和加速度参数来计算移动载体在空间中的当前位置，并将定位信息输出到处理系统。处理系统还通过机械波收发器获得环境信息。之后，处理系统根据定位信息和环境信息生成用于控制空间中的移动载体的移动轨迹的实时计算信息。

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