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1. 发明申请

US20050224770A1 Flexible screw type height control device 审中-公开
标题翻译：柔性螺杆式高度控制装置
公开(公告)号：US20050224770A1
公开(公告)日：2005-10-13
申请号：US10780966
申请日：2004-02-17
申请人： Munsang Kim , Yoha Hwang , Seung-Jong Kim , Jong Min Lee , Sung-Kee Park , Jong-Suk Choi
发明人： Munsang Kim , Yoha Hwang , Seung-Jong Kim , Jong Min Lee , Sung-Kee Park , Jong-Suk Choi
IPC分类号： F16H25/18 , F16H25/24
CPC分类号： F16H25/2427
摘要： A flexible screw type height control device comprises a housing, a servomotor mounted in the housing, a driving gear which is rotated by the servomotor, a driven gear which is provided with a spiral groove at a central portion thereof and is tooth-engaged with the driving gear, a flexible screw member which passes axially through the spiral groove of the driven gear and moves linearly upward and downward by the servomotor, and a telescopic unit including a plurality of sliding members which are slidably coupled to each other and cooperate with the flexible screw member. The flexible screw member is a coil spring. A first sliding member is slidably disposed in the housing. One end of the flexible screw member is extended outside the housing, and the other end is fixed to a last sliding member. Each sliding member is formed as an open-ended pipe and a cross-sectional area of the sliding members decreases from the first sliding member to the last sliding member.
摘要翻译：柔性螺杆式高度控制装置包括壳体，安装在壳体中的伺服电动机，由伺服电动机旋转的驱动齿轮;从动齿轮，其在其中心部分设有螺旋槽，并与其啮合驱动齿轮，通过轴向通过从动齿轮的螺旋槽并由伺服电机线性地向上和向下移动的柔性螺钉构件，以及包括多个滑动构件的伸缩单元，滑动构件彼此可滑动地联接并与柔性螺丝部件。柔性螺杆构件是螺旋弹簧。第一滑动构件可滑动地设置在壳体中。柔性螺钉构件的一端延伸到壳体外部，另一端固定在最后的滑动构件上。每个滑动构件形成为开口管，并且滑动构件的横截面积从第一滑动构件减小到最后滑动构件。

2. 发明申请

US20080037862A1 EXTENSIBLE SYSTEM AND METHOD FOR STEREO MATCHING IN REAL-TIME 有权
标题翻译：实时立体匹配的可扩展系统和方法
公开(公告)号：US20080037862A1
公开(公告)日：2008-02-14
申请号：US11678428
申请日：2007-02-23
申请人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
发明人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06T7/593 , G06T2207/10021
摘要： Disclosed are a system and a method extensible for performing, in real-time, stereo snatching for calculating depth images with a result of searching for points of similarity by using images taken with two cameras. The system includes a coordinate creating module, a census transform module, a delay XOR calculation module, a stereo matching module, and a control module. Accordingly, by using the system extensible for performing stereo matching, depth information of corrected images can be acquired in real-time without using computer systems or software programs for special purposes. Furthermore, since the system extensible for performing stereo matching can be simply realized by hardware, the system and the method of the present invention can be easily applied to actual intellectual-type robots, industrial settings, etc.
摘要翻译：公开了一种可扩展的系统和方法，用于实时地执行用于计算深度图像的立体声捕获，其结果是通过使用用两个相机拍摄的图像来搜索相似点。该系统包括坐标创建模块，普查变换模块，延迟XOR计算模块，立体匹配模块和控制模块。因此，通过使用可扩展的用于执行立体匹配的系统，可以实时获取校正图像的深度信息，而不用于特殊目的的计算机系统或软件程序。此外，由于用于执行立体匹配的可扩展的系统可以通过硬件简单地实现，所以本发明的系统和方法可以容易地应用于实际的智能机器人，工业设置等。

3. 发明授权

US07643067B2 Rectification system and method of stereo image in real-time 有权
标题翻译：立体图像的整流系统和方法实时
公开(公告)号：US07643067B2
公开(公告)日：2010-01-05
申请号：US11677324
申请日：2007-02-21
申请人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
发明人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
IPC分类号： H04N5/225 , H04N13/00 , H04N5/228 , H04N9/04 , G06K9/32
CPC分类号： G06K9/209 , G06K9/03 , G06T3/0075 , G06T3/4007 , G06T2200/28 , G06T2207/10021 , H04N13/239 , H04N13/246
摘要： Disclosed is a system and a method for rectifying stereo images, which are acquired by two cameras, in real-time by using a calibration matrix resulting from camera calibration. The system includes a coordinate generation module; a rectification coordinate generation module; a bilinear interpolation value generation module; a rectification coordinate memory; a bilinear interpolation memory; an image buffer; an rectification module; and a control module. A structure of a hardware system capable of real-time stereo rectification is provided, and the operation results have been verified by implementing a hardware device. The real-time stereo rectification system makes it possible to acquire rectified images in real-time without using a separate computer system or a software program.
摘要翻译：公开了通过使用由相机校准产生的校准矩阵来实时校正由两个摄像机获取的立体图像的系统和方法。该系统包括坐标生成模块; 整流坐标生成模块; 双线性内插值生成模块; 整流坐标记忆; 双线性插值记忆; 图像缓冲区整改模块; 和控制模块。提供能够实时立体声整流的硬件系统的结构，并且通过实施硬件设备来验证操作结果。实时立体声整流系统使得可以实时获取整流图像而不使用单独的计算机系统或软件程序。

4. 发明申请

US20080002879A1 RECTIFICATION SYSTEM AND METHOD OF STEREO IMAGE IN REAL-TIME 有权
标题翻译：实时系统和立体图像的方法
公开(公告)号：US20080002879A1
公开(公告)日：2008-01-03
申请号：US11677324
申请日：2007-02-21
申请人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
发明人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
IPC分类号： G06K9/00
CPC分类号： G06K9/209 , G06K9/03 , G06T3/0075 , G06T3/4007 , G06T2200/28 , G06T2207/10021 , H04N13/239 , H04N13/246
摘要： Disclosed is a system and a method for rectifying stereo images, which are acquired by two cameras, in real-time by using a calibration matrix resulting from camera calibration. The system includes a coordinate generation module; a rectification coordinate generation module; a bilinear interpolation value generation module; a rectification coordinate memory; a bilinear interpolation memory; an image buffer; an rectification module; and a control module. A structure of a hardware system capable of real-time stereo rectification is provided, and the operation results have been verified by implementing a hardware device. The real-time stereo rectification system makes it possible to acquire rectified images in real-time without using a separate computer system or a software program.
摘要翻译：公开了通过使用由相机校准产生的校准矩阵来实时校正由两个摄像机获取的立体图像的系统和方法。该系统包括坐标生成模块; 整流坐标生成模块; 双线性内插值生成模块; 整流坐标记忆; 双线性插值记忆; 图像缓冲区整改模块; 和控制模块。提供能够实时立体声整流的硬件系统的结构，并且通过实施硬件设备来验证操作结果。实时立体声整流系统使得可以实时获取整流图像而不使用单独的计算机系统或软件程序。

5. 发明授权

US08340397B2 Extensible system and method for stereo matching in real-time 有权
标题翻译：实时立体匹配的可扩展系统和方法
公开(公告)号：US08340397B2
公开(公告)日：2012-12-25
申请号：US11678428
申请日：2007-02-23
申请人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
发明人： Jae Wook Jeon , Seung Hun Jin , Jung Uk Cho , Sung Kee Park , Munsang Kim , Kyoung Mu Lee , Jong Eun Byun
IPC分类号： G06K9/00 , G06K9/56 , G06K9/64 , G03B35/08
CPC分类号： G06K9/32 , G06T7/593 , G06T2207/10021
摘要： Disclosed are a system and a method extensible for performing, in real-time, stereo snatching for calculating depth images with a result of searching for points of similarity by using images taken with two cameras. The system includes a coordinate creating module, a census transform module, a delay XOR calculation module, a stereo matching module, and a control module. Accordingly, by using the system extensible for performing stereo matching, depth information of corrected images can be acquired in real-time without using computer systems or software programs for special purposes. Furthermore, since the system extensible for performing stereo matching can be simply realized by hardware, the system and the method of the present invention can be easily applied to actual intellectual-type robots, industrial settings, etc.
摘要翻译：公开了一种可扩展的系统和方法，用于实时地执行用于计算深度图像的立体声捕获，其结果是通过使用用两个相机拍摄的图像来搜索相似点。该系统包括坐标创建模块，普查变换模块，延迟XOR计算模块，立体匹配模块和控制模块。因此，通过使用可扩展的用于执行立体匹配的系统，可以实时获取校正图像的深度信息，而不用于特殊目的的计算机系统或软件程序。此外，由于用于执行立体匹配的可扩展的系统可以通过硬件简单地实现，所以本发明的系统和方法可以容易地应用于实际的智能机器人，工业设置等。

6. 发明授权

US07965006B2 Device for generating stiffness and joint of robot manipulator comprising the same 有权
标题翻译：用于产生包括其的机器人操纵器的刚度和接头的装置
公开(公告)号：US07965006B2
公开(公告)日：2011-06-21
申请号：US12439938
申请日：2006-12-07
申请人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
发明人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
IPC分类号： H02K49/00
CPC分类号： B25J19/0004 , Y10T74/20329
摘要： A device for generating and varying stiffness, which may be applied to a joint of a robot manipulator, the stiffness generating device having a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.
摘要翻译：一种用于产生和变化刚度的装置，其可以应用于机器人操纵器的接头，所述刚度产生装置具有连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。电流调节装置调节施加到线圈的电流。

7. 发明申请

US20100192719A1 DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME 有权
标题翻译：用于产生包含其的机器人操纵器的刚度和接头的装置
公开(公告)号：US20100192719A1
公开(公告)日：2010-08-05
申请号：US12439938
申请日：2006-12-07
申请人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
发明人： Sung Chul Kang , Munsang Kim , Seung Jong Kim , Seung Kook Yun , Jeonghoon Yoo
IPC分类号： B25J17/00 , H02P6/08 , H02K49/10
CPC分类号： B25J19/0004 , Y10T74/20329
摘要： The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.
摘要翻译：本发明提供一种用于产生和改变刚度的装置，其可以应用于机器人操纵器的接头。本发明的刚度产生装置包括：连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。电流调节装置调节施加到线圈的电流。

8. 发明授权

US08656800B2 Harmonic drive using profile shifted gear 有权
标题翻译：谐波驱动使用轮廓切换齿轮
公开(公告)号：US08656800B2
公开(公告)日：2014-02-25
申请号：US12991887
申请日：2008-07-03
申请人： Chang-hyun Cho , Munsang Kim
发明人： Chang-hyun Cho , Munsang Kim
IPC分类号： F16H57/00
CPC分类号： F16H49/001
摘要： A harmonic drive according to the present invention comprises a plurality of internal gears; a band type of flexible gear provided with teeth engaged with each of the internal gears on its outer circumferential surface, the flexible gear having a pitch circumference length shorter than that of said internal gears; and a wave generating part disposed on an inner side of said flexible gear, the wave generating part generating a plurality of harmonic motions by deforming said flexible gear as the wave generating part rotates. Further, said flexible gear is formed integrally to engage with said plurality of internal gears so that the plurality of harmonic motions are overlapped, and one or more of said plurality of internal gears and said flexible gear are formed of profile shifted gears.
摘要翻译：根据本发明的谐波驱动器包括多个内齿轮; 带状的柔性齿轮具有与其外圆周表面上的每个内齿轮啮合的齿，所述柔性齿轮具有比所述内齿轮短的节圆周长; 以及波形产生部，其设置在所述柔性齿轮的内侧，所述波发生部通过使波动发生部旋转而使所述柔性齿轮变形而产生多次谐波运动。此外，所述柔性齿轮一体地形成为与所述多个内齿轮啮合，使得多个谐波运动重叠，并且所述多个内齿轮和所述柔性齿轮中的一个或多个由轮廓移位齿轮形成。

9. 发明申请

US20080174321A1 Capacitive sensor for sensing tactile and proximity, and a sensing system using the same 有权
标题翻译：用于感测触觉和接近的电容式传感器，以及使用其的感测系统
公开(公告)号：US20080174321A1
公开(公告)日：2008-07-24
申请号：US11655356
申请日：2007-01-19
申请人： Sungchul Kang , Munsang Kim , Euisik Yoon , Hyung-Kyu Lee , Sun-Il Chang , Junho Choi
发明人： Sungchul Kang , Munsang Kim , Euisik Yoon , Hyung-Kyu Lee , Sun-Il Chang , Junho Choi
IPC分类号： G01R27/26
CPC分类号： G06F3/044 , G06F3/0416 , G06F2203/04108
摘要： Disclosed is a capacitive proximity sensor in dual implementation. The sensor comprises an upper electrode layer having a plurality of electrodes disposed in line with each other, a lower electrode layer having a plurality of electrodes disposed in line with each other and an insulating layer disposed between the upper electrode layer and the lower electrode layer. The sensor detects the proximity of approaching objects by the capacitance change between the electrodes disposed in the upper electrode layer, and detects the contact of any objects by the capacitance change between the electrodes of the upper electrode layer and the electrodes of the lower electrode layer.
摘要翻译：公开了一种双重实现的电容式接近传感器。传感器包括具有彼此配置的多个电极的上电极层，具有彼此配置的多个电极的下电极层和设置在上电极层和下电极层之间的绝缘层。传感器通过设置在上电极层中的电极之间的电容变化来检测接近物体的接近，并通过上电极层的电极和下电极层的电极之间的电容变化来检测任何物体的接触。

10. 发明申请

US20110144988A1 EMBEDDED AUDITORY SYSTEM AND METHOD FOR PROCESSING VOICE SIGNAL 审中-公开
标题翻译：嵌入式审计系统和处理语音信号的方法
公开(公告)号：US20110144988A1
公开(公告)日：2011-06-16
申请号：US12857059
申请日：2010-08-16
申请人： JongSuk Choi , Munsang Kim , Byung-Gi Lee , Hyung Soon Kim , Nam Ik Cho
发明人： JongSuk Choi , Munsang Kim , Byung-Gi Lee , Hyung Soon Kim , Nam Ik Cho
IPC分类号： G10L15/20
CPC分类号： G10L21/0208 , G10L25/78 , G10L2015/088 , G10L2021/02166 , G10L2021/02168
摘要： An embedded auditory system includes a voice detecting unit for receiving a voice signal as an input and dividing the voice signal into a voice section and a non-voice section; a noise removing unit for removing a noise in the voice section of the voice signal using noise information in the non-voice section of the voice signal; and a keyword spotting unit for extracting a feature vector from the voice signal noise-removed by the noise removing unit and detecting a keyword from the voice section of the voice signal using the feature vector. A method for processing a voice signal includes receiving a voice signal as an input and dividing the voice signal into a voice section and a non-voice section; removing a noise in the voice section of the voice signal using noise information in the non-voice section of the voice signal; and extracting a feature vector from the voice signal noise-removed by the noise removing unit and detecting a keyword from the voice section of the voice signal using the feature vector.
摘要翻译：嵌入式听觉系统包括语音检测单元，用于接收语音信号作为输入，并将语音信号分成语音区段和非语音区段; 噪声去除单元，用于使用语音信号的非语音部分中的噪声信息去除语音信号的语音部分中的噪声; 以及关键词检测单元，用于从由噪声去除单元噪声去除的语音信号中提取特征向量，并使用特征向量从语音信号的语音部分检测关键字。一种用于处理语音信号的方法包括：接收语音信号作为输入，并将语音信号分成语音部分和非话音部分; 使用语音信号的非语音部分中的噪声信息去除语音信号的语音部分中的噪声; 以及从由所述噪声去除单元噪声去除的语音信号中提取特征向量，并使用所述特征向量从所述语音信号的语音部分检测关键字。

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