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1. 发明申请

US20070252549A1 Robot having an obstacle detection unit and method of controlling the same 有权
标题翻译：具有障碍物检测单元的机器人及其控制方法
公开(公告)号：US20070252549A1
公开(公告)日：2007-11-01
申请号：US11606344
申请日：2006-11-30
申请人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
发明人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
IPC分类号： B25J5/00
CPC分类号： G05D1/0227 , A47L2201/00 , G05D1/0238 , G05D1/0255 , G05D2201/0203 , G05D2201/0215
摘要： A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.
摘要翻译：具有障碍物检测单元的机器人和控制机器人的方法。机器人包括主体，驱动单元，辅助主体和控制单元。驱动单元沿给定的表面驱动主体。辅助体从主体突出并检测主体周围的障碍物。控制单元根据检测结果来控制驱动单元，使得主体和障碍物保持彼此预定的距离。

2. 发明授权

US07602133B2 Robot having an obstacle detection unit and method of controlling the same 有权
标题翻译：具有障碍物检测单元的机器人及其控制方法
公开(公告)号：US07602133B2
公开(公告)日：2009-10-13
申请号：US11606344
申请日：2006-11-30
申请人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
发明人： Joon-kee Cho , Seok-won Bang , Yeon-ho Kim , Ki-wan Choi
IPC分类号： B25J5/00
CPC分类号： G05D1/0227 , A47L2201/00 , G05D1/0238 , G05D1/0255 , G05D2201/0203 , G05D2201/0215
摘要： A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.
摘要翻译：具有障碍物检测单元的机器人和控制机器人的方法。机器人包括主体，驱动单元，辅助主体和控制单元。驱动单元沿给定的表面驱动主体。辅助体从主体突出并检测主体周围的障碍物。控制单元根据检测结果来控制驱动单元，使得主体和障碍物保持彼此预定的距离。

3. 发明授权

US08346389B2 Cleaning robot having carpet detector and method of detecting carpet boundary using the same 有权
标题翻译：具有地毯检测器的清洁机器人及使用其检测地毯边界的方法
公开(公告)号：US08346389B2
公开(公告)日：2013-01-01
申请号：US11634146
申请日：2006-12-06
申请人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
发明人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0227 , A47L9/2826 , A47L9/2852 , A47L2201/04 , G05D1/0272 , G05D2201/0203
摘要： A cleaning robot having a carpet detector and a method of detecting a carpet boundary using the same, in which the presence of the carpet on a floor is detected. The cleaning robot having a carpet detector includes a main body, a driver fixed to the main body to move the robot, and the carpet detector detecting a carpet when the robot is driven by the driver. The method of detecting a carpet boundary includes detecting a carpet using respective carpet detectors fixed to both wheels of a robot, obtaining a moving distance of the robot for an interval between times at which the respective carpet detectors detect the carpet, and calculating a boundary direction of the carpet with respect to a moving direction of the robot using the moving distance and the interval between the times at which the respective carpet detectors detect the carpet.
摘要翻译：一种具有地毯检测器的清洁机器人和使用该清洁机器人检测地毯边缘的方法，其中检测到地毯上的存在。具有地毯检测器的清洁机器人包括主体，固定到主体以使机器人移动的驱动器，以及当机器人被驾驶员驱动时检测地毯的地毯检测器。检测地毯边界的方法包括使用固定在机器人的两个轮上的各自的地毯检测器来检测地毯，获得机器人在各个地毯检测器检测到地毯的时间之间的时间间隔的移动距离，以及计算边界方向的地毯相对于机器人的移动方向使用移动距离和各个地毯检测器检测到地毯的时间之间的间隔。

4. 发明申请

US20070271004A1 Cleaning robot having carpet detector and method of detecting carpet boundary using the same 有权
标题翻译：具有地毯检测器的清洁机器人及使用其检测地毯边界的方法
公开(公告)号：US20070271004A1
公开(公告)日：2007-11-22
申请号：US11634146
申请日：2006-12-06
申请人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
发明人： Yeon-ho Kim , Seok-won Bang , Joon-kee Cho
IPC分类号： G06F19/00
CPC分类号： G05D1/0227 , A47L9/2826 , A47L9/2852 , A47L2201/04 , G05D1/0272 , G05D2201/0203
摘要： A cleaning robot having a carpet detector and a method of detecting a carpet boundary using the same, in which the presence of the carpet on a floor is detected. The cleaning robot having a carpet detector includes a main body, a driver fixed to the main body to move the robot, and the carpet detector detecting a carpet when the robot is driven by the driver. The method of detecting a carpet boundary includes detecting a carpet using respective carpet detectors fixed to both wheels of a robot, obtaining a moving distance of the robot for an interval between times at which the respective carpet detectors detect the carpet, and calculating a boundary direction of the carpet with respect to a moving direction of the robot using the moving distance and the interval between the times at which the respective carpet detectors detect the carpet.
摘要翻译：一种具有地毯检测器的清洁机器人和使用该清洁机器人检测地毯边缘的方法，其中检测到地毯上的存在。具有地毯检测器的清洁机器人包括主体，固定到主体以使机器人移动的驱动器，以及当机器人被驾驶员驱动时检测地毯的地毯检测器。检测地毯边界的方法包括使用固定在机器人的两个轮上的各自的地毯检测器来检测地毯，获得机器人在各个地毯检测器检测到地毯的时间之间的时间间隔的移动距离，以及计算边界方向的地毯相对于机器人的移动方向使用移动距离和各个地毯检测器检测到地毯的时间之间的间隔。

5. 发明授权

US08543241B2 Method, medium, and system estimating pose of mobile robots 有权
标题翻译：移动机器人的方法，中等和系统估计姿态
公开(公告)号：US08543241B2
公开(公告)日：2013-09-24
申请号：US11898207
申请日：2007-09-10
申请人： Bing rong Hong , Rong hua Luo , Mao hai Li , Seok-won Bang , Yeon-ho Kim , Hyeon Myeong
发明人： Bing rong Hong , Rong hua Luo , Mao hai Li , Seok-won Bang , Yeon-ho Kim , Hyeon Myeong
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J9/0003 , B25J13/087 , B25J13/089 , G05D1/0274 , G05D2201/0203
摘要： A method, medium, and system reducing the computational complexity of a Simultaneous Localization And Mapping (SLAM) algorithm that can be applied to mobile robots. A system estimating the pose of a mobile robot with the aid of a particle filter using a plurality of particles includes a sensor which detects a variation in the pose of a mobile robot, a particle filter unit which determines the poses and weights of current particles by applying the detected pose variation to previous particles, and an evolution unit which updates the poses and weights of the current particles by applying an evolution algorithm to the poses and weights of the current particles.
摘要翻译：一种减少可应用于移动机器人的同步定位和映射（SLAM）算法的计算复杂度的方法，介质和系统。借助于使用多个粒子的粒子滤波器来估计移动机器人的姿态的系统包括：检测移动机器人的姿势变化的传感器;粒子滤波器单元，其通过以下方式确定当前粒子的姿态和重量将检测到的姿态变化应用于先前的粒子，以及演化单元，其通过将进化算法应用于当前粒子的姿势和权重来更新当前粒子的姿态和权重。

6. 发明申请

US20080065267A1 Method, medium, and system estimating pose of mobile robots 有权
标题翻译：移动机器人的方法，中等和系统估计姿态
公开(公告)号：US20080065267A1
公开(公告)日：2008-03-13
申请号：US11898207
申请日：2007-09-10
申请人： Bing rong Hong , Rong hua Luo , Mao hai Li , Seok-won Bang , Yeon-ho Kim , Hyeon Myeong
发明人： Bing rong Hong , Rong hua Luo , Mao hai Li , Seok-won Bang , Yeon-ho Kim , Hyeon Myeong
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J9/0003 , B25J13/087 , B25J13/089 , G05D1/0274 , G05D2201/0203
摘要： A method, medium, and system reducing the computational complexity of a Simultaneous Localization And Mapping (SLAM) algorithm that can be applied to mobile robots. A system estimating the pose of a mobile robot with the aid of a particle filter using a plurality of particles includes a sensor which detects a variation in the pose of a mobile robot, a particle filter unit which determines the poses and weights of current particles by applying the detected pose variation to previous particles, and an evolution unit which updates the poses and weights of the current particles by applying an evolution algorithm to the poses and weights of the current particles.
摘要翻译：一种减少可应用于移动机器人的同步定位和映射（SLAM）算法的计算复杂度的方法，介质和系统。借助于使用多个粒子的粒子滤波器来估计移动机器人的姿态的系统包括：检测移动机器人的姿势变化的传感器;粒子滤波器单元，其通过以下方式确定当前粒子的姿态和重量将检测到的姿态变化应用于先前的粒子，以及演化单元，其通过将进化算法应用于当前粒子的姿势和权重来更新当前粒子的姿态和权重。

7. 发明授权

US08352075B2 Apparatus and method for extracting feature information of object and apparatus and method for creating feature map 有权
标题翻译：用于提取物体和装置的特征信息的装置和方法以及用于创建特征图的方法
公开(公告)号：US08352075B2
公开(公告)日：2013-01-08
申请号：US12457203
申请日：2009-06-03
申请人： Joon-kee Cho , Yeon-ho Kim , Dong-ryeol Park
发明人： Joon-kee Cho , Yeon-ho Kim , Dong-ryeol Park
IPC分类号： G05B15/00
CPC分类号： G06K9/4604 , G06K9/00201 , G06K9/00664 , G06T7/514
摘要： Technology for creating a feature map for localizing a mobile robot and extracting feature information of surroundings is provided. According to one aspect, feature information including a reflection function is extracted from information acquired using a 3D distance sensor and used as a basis for creating a feature map. Thus, a feature map that is less sensitive to change in the surrounding environment can be created, and a success rate of feature matching can be increased.
摘要翻译：提供了用于创建用于本地化移动机器人并提取周围环境的特征信息的特征图的技术。根据一个方面，从使用3D距离传感器获取的信息中提取包括反射函数的特征信息，并将其用作创建特征图的基础。因此，可以创建对周围环境变化较不敏感的特征图，并且可以增加特征匹配的成功率。

8. 发明申请

US20100004861A1 Obstacle detecting apparatus and method 审中-公开
标题翻译：障碍物检测装置及方法
公开(公告)号：US20100004861A1
公开(公告)日：2010-01-07
申请号：US12318587
申请日：2008-12-31
申请人： Dong-ryeol Park , Yeon-ho Kim , Joon-kee Cho
发明人： Dong-ryeol Park , Yeon-ho Kim , Joon-kee Cho
IPC分类号： G06G7/78
CPC分类号： G06N3/008 , G06K9/00691
摘要： An obstacle detecting apparatus and a method thereof, which are usable in an autonomous moving robot, are provided. The obstacle detecting apparatus extracts at least one plane from measured range data, extracts at least one intersection point and at least one intersection line using at least one plane, and extracts matching data neighboring at least one intersection point and at least one intersection line from the range data. The matching data is extracted by reflecting uncertainties of the intersection point and the intersection line extracted from the measured range data. Matching is performed between the extracted matching data and model data, and an obstruction is detected by using the matching result.
摘要翻译：提供了一种可用于自主移动机器人的障碍物检测装置及其方法。所述障碍物检测装置从测量范围数据中提取至少一个平面，使用至少一个平面提取至少一个交点和至少一个交叉线，并提取与所述至少一个交点相邻的匹配数据和至少一个交叉线范围数据。通过反映从测量范围数据提取的交点和交点线的不确定性来提取匹配数据。在提取的匹配数据和模型数据之间进行匹配，并且通过使用匹配结果来检测障碍物。

9. 发明申请

US20110069155A1 Apparatus and method for detecting motion 审中-公开
标题翻译：检测运动的装置和方法
公开(公告)号：US20110069155A1
公开(公告)日：2011-03-24
申请号：US12801085
申请日：2010-05-20
申请人： Joon-kee Cho , Yeon-ho Kim
发明人： Joon-kee Cho , Yeon-ho Kim
IPC分类号： H04N13/02 , G06K9/00
CPC分类号： G06K9/00335 , G06T7/254 , G06T2207/10021 , G06T2207/30201
摘要： An apparatus and method for detecting a motion using a stereo camera are provided. The apparatus can acquire an object image including only an object without a background using the stereo camera. The apparatus can set a motion detection area in the acquired object image and recognize an image change amount in the motion detection area to detect a motion of the object.
摘要翻译：提供了一种使用立体相机检测运动的装置和方法。该装置可以使用立体相机获取仅包括没有背景的对象的对象图像。该装置可以在所获取的对象图像中设置运动检测区域，并且识别运动检测区域中的图像变化量以检测对象的运动。

10. 发明授权

US07853372B2 System, apparatus, and method of preventing collision of remote-controlled mobile robot 有权
标题翻译：防止远程控制的移动机器人碰撞的系统，装置和方法
公开(公告)号：US07853372B2
公开(公告)日：2010-12-14
申请号：US11644980
申请日：2006-12-26
申请人： Jun-ho Park , Yeon-ho Kim , Seok-won Bang
发明人： Jun-ho Park , Yeon-ho Kim , Seok-won Bang
IPC分类号： G06F11/30
CPC分类号： G05D1/0272 , G05D1/0253 , G05D1/0274
摘要： A system, apparatus, and method of preventing a collision of a remote-controlled mobile robot are disclosed. The system includes a mobile robot transmitting image data taken by a camera mounted on the mobile robot and moving in accordance with received control data, and a control appliance receiving and analyzing the image data, displaying the analyzed result on a screen, and transmitting the control data to the mobile robot.
摘要翻译：公开了一种防止远程控制的移动机器人碰撞的系统，装置和方法。该系统包括移动机器人，发送由安装在移动机器人上的相机拍摄的图像数据，并根据接收的控制数据进行移动;以及控制装置，接收和分析图像数据，将分析结果显示在屏幕上，并发送控制数据到移动机器人。

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