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1. 发明授权

US06656116B2 Apparatus and method for perceiving physical and emotional state 有权
公开(公告)号：US06656116B2
公开(公告)日：2003-12-02
申请号：US09931767
申请日：2001-08-20
申请人： Jay-woo Kim , Seok-won Bang , Jeong-hwan Kim , Hyoung-ki Lee
发明人： Jay-woo Kim , Seok-won Bang , Jeong-hwan Kim , Hyoung-ki Lee
IPC分类号： A61B500
CPC分类号： G06F3/011 , A61B5/0008 , A61B5/01 , A61B5/0205 , A61B5/0816 , A61B5/1455 , A61B5/16 , A61B5/441 , G06F2203/011
摘要： An apparatus and method for perceiving a physical and emotional state, which allows easy attachment to and detachment from a human body, and through which a bio-signal is simply detected, are provided. The apparatus includes a bio-signal detection part attached to a predetermined portion of a body for performing analog signal processing on at least one bio-signal detected from the body and outputting the processed bio-signal, and a bio-signal recognizing part for performing digital signal processing on the processed bio-signal received from the bio-signal detection part, perceiving the physical and emotional state from the result of the digital signal processing, and representing the physical and emotional state. Accordingly, the apparatus can be conveniently attached to a predetermined portion of a user's body, a bio-signal transmitted wirelessly or through a wire can be easily detected, a physical and emotional state which is perceived based on the detected bio-signal can be reported to the user, and a rapidly changing emotional state or an emotional state which remains for a long time can be perceived in real time.

2. 发明授权

US06816802B2 Object growth control system and method 有权
标题翻译：对象增长控制系统和方法
公开(公告)号：US06816802B2
公开(公告)日：2004-11-09
申请号：US10287679
申请日：2002-11-05
申请人： Jay-woo Kim , Kyung-hwan Kim , Seok-won Bang , Mi-hee Lee , Dong-geon Kong , Hyoung-ki Lee
发明人： Jay-woo Kim , Kyung-hwan Kim , Seok-won Bang , Mi-hee Lee , Dong-geon Kong , Hyoung-ki Lee
IPC分类号： G06F1900
CPC分类号： G06N3/004
摘要： An object growth control system and method are provided. The object growth control system includes a weighting unit, a growth state analyzer, and an object operation controller. The weighting unit detects external environments and a user's state, loads weights on predetermined user emotional states, predetermined object growth tendencies, and predetermined object emotional states according to the result of detection and the user's tendency, and outputs the results of loading of the weights as state data. The growth state analyzer applies a predetermined statistical model to the state data input for a predetermined period to analyze the user's tendency and outputs a degree of education on the object with respect to the user's tendency based on the state data to which the predetermined statistical model has been applied. The object operation controller applies a predetermined rule-based or statistical model to the state data and the degree of education to generate a control signal for controlling the operation of the object.
摘要翻译：提供了一种物体生长控制系统和方法。对象增长控制系统包括加权单元，增长状态分析器和对象操作控制器。加权单元根据检测结果和用户倾向检测外部环境和用户状态，加载预定用户情绪状态的权重，预定对象增长趋势和预定对象情绪状态，并将权重的加载结果输出为状态数据。生长状态分析器将预定的统计模型应用于预定时段的状态数据输入，以分析用户的趋势，并基于预定统计模型具有的状态数据，输出关于用户倾向的对象的教育程度已被应用。对象操作控制器对状态数据和教育程度应用预定的基于规则的或统计模型，以产生用于控制对象的操作的控制信号。

3. 发明申请

US20110224824A1 ROBOT LOCALIZATION SYSTEM 审中-公开
标题翻译：机器人本地化系统
公开(公告)号：US20110224824A1
公开(公告)日：2011-09-15
申请号：US13113790
申请日：2011-05-23
申请人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
IPC分类号： B25J13/08
CPC分类号： G05D1/0225 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/028
摘要： A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted. The robot includes a first receiving unit, which comprises at least two sound sensors receiving the sound wave incident onto the robot; a second receiving unit, which receives the synchronizing signal incident onto the robot; a distance calculation unit, which calculates a distance between the first transmitting unit and the first receiving unit using a difference between an instant of time when the synchronizing signal is received and an instant of time when the sound wave is received; and an incident angle calculation unit, which calculates an incident angle of the sound wave onto the robot using a difference between receiving times of the sound wave in the at least two sound sensors comprised in the first receiving unit.
摘要翻译：提供机器人定位系统。机器人定位包括在预定空间内移动并执行预定任务的机器人以及对应于机器人起始位置的对接站。对接站包括发送声波以检测机器人的位置的第一发送单元; 以及第二发送单元，当发送声波时发送正确的同步信号。机器人包括第一接收单元，其包括接收入射到机器人上的声波的至少两个声音传感器; 第二接收单元，其接收入射到机器人上的同步信号; 距离计算单元，其使用接收到同步信号的时刻与接收到声波的时刻之间的差来计算第一发送单元和第一接收单元之间的距离; 以及入射角计算单元，其使用包括在第一接收单元中的至少两个声音传感器中的声波的接收时间之差来计算声波到机器人上的入射角。

4. 发明授权

US07970491B2 Robot localization system 有权
标题翻译：机器人定位系统
公开(公告)号：US07970491B2
公开(公告)日：2011-06-28
申请号：US10747228
申请日：2003-12-30
申请人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Jay-woo Kim , Seok-won Bang
IPC分类号： G06F19/00 , G05B13/02 , B60T7/16
CPC分类号： G05D1/0225 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/028
摘要： A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted. The robot includes a first receiving unit, which comprises at least two sound sensors receiving the sound wave incident onto the robot; a second receiving unit, which receives the synchronizing signal incident onto the robot; a distance calculation unit, which calculates a distance between the first transmitting unit and the first receiving unit using a difference between an instant of time when the synchronizing signal is received and an instant of time when the sound wave is received; and an incident angle calculation unit, which calculates an incident angle of the sound wave onto the robot using a difference between receiving times of the sound wave in the at least two sound sensors comprised in the first receiving unit.
摘要翻译：提供机器人定位系统。机器人定位包括在预定空间内移动并执行预定任务的机器人以及对应于机器人起始位置的对接站。对接站包括发送声波以检测机器人的位置的第一发送单元; 以及第二发送单元，其在发送声波时发送正确的同步信号。机器人包括第一接收单元，其包括接收入射到机器人上的声波的至少两个声音传感器; 第二接收单元，其接收入射到机器人上的同步信号; 距离计算单元，其使用接收到同步信号的时刻与接收到声波的时刻之间的差来计算第一发送单元和第一接收单元之间的距离; 以及入射角计算单元，其使用包括在第一接收单元中的至少两个声音传感器中的声波的接收时间之差来计算声波到机器人上的入射角。

5. 发明授权

US08315734B2 Robot and method and medium for localizing the same by using calculated covariance 有权
标题翻译：机器人和方法以及通过使用计算协方差对其进行定位的介质
公开(公告)号：US08315734B2
公开(公告)日：2012-11-20
申请号：US11688983
申请日：2007-03-21
申请人： Hyeon Myeong , Yong-beom Lee , Seok-won Bang , Hyoung-ki Lee , Ki-wan Choi , Eun-young Choe
发明人： Hyeon Myeong , Yong-beom Lee , Seok-won Bang , Hyoung-ki Lee , Ki-wan Choi , Eun-young Choe
IPC分类号： G06F19/00
CPC分类号： G05D1/0272 , G05D1/027
摘要： Provided are a robot capable of improving the computation rate by considering whether a parameter will diverge and modifying the experiment order of offspring during evolutionary computation, when the covariance of system noise and that of measurement noise are calculated for the purpose of localizing the robot by using a Kalman filter, and a method and medium of localizing a robot by using a calculated covariance. The robot includes a gyroscope module providing information regarding rotational angle; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel by sensing motion of the wheel; and a control module estimating a current location according to a Kalman filter method based on information provided by the encoder module and the gyroscope module, a covariance of system noise and a covariance of measurement noise being calculated in an evolutionary computation and applied to the Kalman filter method by the control module, the covariance of system noise and the covariance of measurement noise satisfying a condition that no Kalman filter parameter diverges in the evolutionary computation.
摘要翻译：提供了一种能够通过考虑在进化计算期间参数是否会发散和修改后代的实验次序来提高计算速率的机器人，当系统噪声和测量噪声的协方差被计算用于通过使用卡尔曼滤波器，以及通过使用计算的协方差来定位机器人的方法和介质。机器人包括提供关于旋转角度的信息的陀螺仪模块; 编码器模块，通过感测车轮的运动来提供关于车轮旋转角度的速度和信息的信息; 以及基于卡尔曼滤波方法的编码器模块和陀螺仪模块提供的信息来估计当前位置的控制模块，系统噪声的协方差和在进化计算中计算的应用于卡尔曼滤波器的测量噪声的协方差控制模块的方法，系统噪声的协方差和测量噪声的协方差满足在进化计算中没有卡尔曼滤波参数分歧的条件。

6. 发明申请

US20090125175A1 Apparatus and method for generating three-dimensional map using structured light 有权
标题翻译：使用结构光产生三维地图的装置和方法
公开(公告)号：US20090125175A1
公开(公告)日：2009-05-14
申请号：US12153440
申请日：2008-05-19
申请人： Dong-ryeol Park , Dong-jo Kim , Seok-won Bang , Hyoung-ki Lee
发明人： Dong-ryeol Park , Dong-jo Kim , Seok-won Bang , Hyoung-ki Lee
IPC分类号： G01C22/00
CPC分类号： G05D1/0274 , G05D1/024 , G05D1/027 , G05D1/0272
摘要： A three-dimensional map-generating apparatus and method using structured light. The apparatus for generating a three-dimensional map using structured light includes an odometer detecting the pose of a mobile robot, and a distance-measuring sensor including a light source module that emits light upward and a camera module that captures an image formed by light reflected from an obstacle, and measuring a distance to the obstacle using the captured image. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map.
摘要翻译：一种使用结构光的三维地图生成装置和方法。用于使用结构光产生三维地图的装置包括检测移动机器人的姿态的里程表和包括向上发光的光源模块的距离测量传感器和捕获由光反射形成的图像的相机模块并且使用所捕获的图像来测量与障碍物的距离。该装置在改变移动机器人的相对姿态的同时使用距离测量传感器来测量与障碍物的距离，从而生成三维地图。

7. 发明授权

US07840369B2 Apparatus and method for correcting bias of gyroscope mounted on mobile robot 有权
标题翻译：用于校正安装在移动机器人上的陀螺仪偏差的装置和方法
公开(公告)号：US07840369B2
公开(公告)日：2010-11-23
申请号：US11822405
申请日：2007-07-05
申请人： Hyoung-ki Lee , Ki-wan Choi , Dong-yoon Kim , Seok-won Bang
发明人： Hyoung-ki Lee , Ki-wan Choi , Dong-yoon Kim , Seok-won Bang
IPC分类号： G01C19/54
CPC分类号： G01C19/42 , Y10T74/1229
摘要： An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.
摘要翻译：一种校正安装在移动机器人上并测量移动机器人的角速度的陀螺仪的偏置的装置。该装置包括：分别测量移动机器人的相应的至少一个车轮的行进速度的至少一个编码器; 建模单元，通过使用测量的行进速度来计算移动机器人的角速度; 偏置推定单元通过使用所计算的角速度和所测量的角速度之间的差值来确定置信区间，并且通过使用所述差值之中的置信区间中的值来计算推定的偏差; 以及偏置去除单元，从所测量的角速度除去所述推定的偏压。

8. 发明授权

US07768417B2 Moving apparatus, method, and medium for compensating position of the moving apparatus 有权
标题翻译：移动装置，方法和介质，用于补偿移动装置的位置
公开(公告)号：US07768417B2
公开(公告)日：2010-08-03
申请号：US11707992
申请日：2007-02-20
申请人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang , Dong-yoon Kim
发明人： Ki-wan Choi , Hyoung-ki Lee , Seok-won Bang , Dong-yoon Kim
IPC分类号： G08B21/00
CPC分类号： G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： Provided are a moving apparatus and an apparatus, method, and medium for compensating position based on a position recognition technology. The moving apparatus which provides a function for correcting a position includes a sensing unit obtaining multiple state information reflecting one or more abnormal movement states generated by movements of the moving apparatus; a state determination unit determining whether or not the abnormal movement state is generated by self-contained navigation, by referring to the obtained multiple state information; and a position information calculation unit calculating final position information of the moving apparatus, by correcting the multiple state information as the abnormal movement state occurs.
摘要翻译：提供了一种基于位置识别技术的移动装置和用于补偿位置的装置，方法和介质。提供用于校正位置的功能的移动装置包括：感测单元，获得反映由移动装置的移动产生的一个或多个异常运动状态的多个状态信息; 状态确定单元，通过参照所获得的多个状态信息来确定是否通过独立导航生成异常运动状态; 以及位置信息计算单元，通过在发生异常运动状态的情况下校正多个状态信息来计算移动装置的最终位置信息。

9. 发明授权

US07725089B2 System and method for human body communication 有权
标题翻译：人体通讯系统与方法
公开(公告)号：US07725089B2
公开(公告)日：2010-05-25
申请号：US11517393
申请日：2006-09-08
申请人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
发明人： Mi-hee Lee , Seok-won Bang , Hyoung-ki Lee , Sang-ryong Kim
IPC分类号： H04B1/18
CPC分类号： H04B5/0012 , H04B13/005 , Y02D70/144 , Y02D70/42
摘要： A human body communication system. The human body communication system includes a controlled device measuring a capacitance that corresponds to the distance to a human body, and transmitting information on the measured capacitance through a wireless medium; and a control device receiving the information, and then, based on the information, determining a transmission power and, with the determined transmission power, transmitting a control command of a user to the controlled device using the human body as a medium.
摘要翻译：人体通讯系统人体通信系统包括测量对应于人体距离的电容的受控设备，以及通过无线介质发送关于所测量电容的信息; 以及接收信息的控制装置，然后基于该信息，确定发送功率，并且利用所确定的发送功率，使用人体作为媒体将用户的控制命令发送到被控制装置。

10. 发明申请

US20070271011A1 Indoor map building apparatus, method, and medium for mobile robot 审中-公开
标题翻译：移动机器人室内地图建筑装置，方法和介质
公开(公告)号：US20070271011A1
公开(公告)日：2007-11-22
申请号：US11715977
申请日：2007-03-09
申请人： Hyoung-ki Lee , Dong-yoon Kim , Seok-won Bang , Hyeon Myeong
发明人： Hyoung-ki Lee , Dong-yoon Kim , Seok-won Bang , Hyeon Myeong
IPC分类号： G06F19/00 , G05D1/02
CPC分类号： G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203
摘要： An indoor map building apparatus, method, and medium for a mobile robot are provided. The indoor map building apparatus includes a beacon which transmits/receives signals for determining the location of the mobile robot, a beacon location fixing module which moves the beacon to a predetermined location in an indoor space where the mobile robot is to travel and fixes the beacon at the predetermined location, a data processing module which determines the location of the mobile robot based on signals received from the beacon, and generates map information regarding the indoor space, an obstacle detection module which detects an obstacle when the mobile robot travels in the indoor space, and a driving module which moves the mobile robot.
摘要翻译：提供了一种用于移动机器人的室内地图制作装置，方法和介质。室内地图构建装置包括发送/接收用于确定移动机器人的位置的信号的信标，将信标移动到移动机器人要行进的室内空间中的预定位置的信标位置固定模块，并固定信标在所述预定位置处，基于从所述信标接收到的信号来确定所述移动机器人的位置的数据处理模块，并且生成关于所述室内空间的地图信息;障碍物检测模块，其在所述移动机器人在室内行进时检测障碍物空间以及移动机器人的驱动模块。

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