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1. 发明申请

US20080294338A1 Method of Mapping and Navigating Mobile Robot by Artificial Landmark and Local Coordinate 审中-公开
标题翻译：通过人工地标和局部坐标绘制和浏览移动机器人的方法
公开(公告)号：US20080294338A1
公开(公告)日：2008-11-27
申请号：US12091994
申请日：2006-07-26
申请人： Nakju Doh , Won Pil Yu , Sang Ik Na
发明人： Nakju Doh , Won Pil Yu , Sang Ik Na
IPC分类号： B25J9/16
CPC分类号： G05D1/0274 , G05D1/0234 , G05D1/024 , G05D1/0255 , G05D2201/0203
摘要： A method of mapping and navigating a mobile robot by an artificial landmark and a local coordinate is provided. The method of creating a map includes: a) recognizing an artificial landmark in a target space and defining the recognized artificial landmark as a predetermined node; b) defining an adjacent artificial landmark as a destination node while traveling to the adjacent artificial landmark; c) defining the recognized artificial landmark as an origin of a local coordinate, defining a coordinate axis provided from the predetermined artificial landmark as a coordinate axis of the origin, obtaining and storing information about the predetermined node, the destination node, and an edge connecting the predetermined node and the destination node; and d) creating a map by storing information about edges between each of nodes to an adjacent node for all of the artificial landmarks through repeatedly performing the steps b) and c).
摘要翻译：提供了一种通过人造地标和局部坐标映射和导航移动机器人的方法。创建地图的方法包括：a）识别目标空间中的人造地标并将所识别的人造地标定义为预定节点; b）在行进到相邻的人造地标时定义相邻的人造地标作为目的地节点; c）将所识别的人造地标定义为局部坐标的原点，将从预定人造地标提供的坐标轴定义为原点的坐标轴，获得并存储关于预定节点，目的地节点和边缘连接的信息预定节点和目的节点; 以及d）通过重复执行步骤b）和c），通过将关于每个节点之间的边缘的信息存储到所有人造地标的相邻节点来创建地图。

2. 发明申请

US20090031823A1 Apparatus for Detecting the Movement of Its Embedded Attaching Means 有权
标题翻译：用于检测其嵌入式装置的运动的装置
公开(公告)号：US20090031823A1
公开(公告)日：2009-02-05
申请号：US11989609
申请日：2006-07-28
申请人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
发明人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
IPC分类号： G01L5/04
CPC分类号： A63H11/00 , A63H17/36 , A63H2200/00 , G01B21/32
摘要： Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector. When the connector such as a cable is pulled, the detecting apparatus detects information about the pulling conditions of the cable. Therefore, when a user walks with a dog robot by holding the cable of the detecting apparatus attached to the dog robot, the detecting apparatus provides information about the cable-holding conditions to inform the dog robot of user's intention, so that the dog robot can follow the user according to the user's intention. Thus, automatically-movable devices such as the dog robot can be conveniently used by employing the detecting apparatus since the detecting apparatus provides information about user's intention to the devices.
摘要翻译：提供一种用于检测连接器的张力，移动方向和长度的装置。检测装置包括连接器，其包括连接在运动检测装置内的一端和设置在运动检测装置的外侧的另一端;张力检测器，通过检测施加到连接器的参数的微小变化来测量施加到连接器的张力当连接器的另一端从运动检测装置被拉开时的张力检测器;方向检测器，测量连接器在基本上垂直于张力的平面中的水平和垂直方向上的运动，以便检测拉力的方向并且长度检测器通过施加到连接器的张力来检测从运动检测装置延伸的连接器的长度。当拉出诸如电缆的连接器时，检测装置检测关于电缆的拉动状况的信息。因此，当用户通过握住安装在狗机器人上的检测装置的电缆来行走狗机器人时，检测装置提供关于电缆保持条件的信息以通知狗机器人的用户意图，使得狗机器人按照用户的意图跟随用户。因此，由于检测装置向装置提供关于用户的意图的信息，所以可以通过采用检测装置方便地使用诸如狗机器人的自动移动装置。

3. 发明授权

US07681464B2 Apparatus for detecting the movement of its embedded attaching means 有权
标题翻译：用于检测其嵌入式连接装置的运动的装置
公开(公告)号：US07681464B2
公开(公告)日：2010-03-23
申请号：US11989609
申请日：2006-07-28
申请人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
发明人： Nakju Doh , Won Pil Yu , Sang Ik Na , Yu-Cheol Lee , Hyo-Sung Ahn
IPC分类号： G01L1/26
CPC分类号： A63H11/00 , A63H17/36 , A63H2200/00 , G01B21/32
摘要： Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector. When the connector such as a cable is pulled, the detecting apparatus detects information about the pulling conditions of the cable. Therefore, when a user walks with a dog robot by holding the cable of the detecting apparatus attached to the dog robot, the detecting apparatus provides information about the cable-holding conditions to inform the dog robot of user's intention, so that the dog robot can follow the user according to the user's intention. Thus, automatically-movable devices such as the dog robot can be conveniently used by employing the detecting apparatus since the detecting apparatus provides information about user's intention to the devices.
摘要翻译：提供一种用于检测连接器的张力，移动方向和长度的装置。检测装置包括连接器，其包括连接在运动检测装置内的一端和设置在运动检测装置的外侧的另一端;张力检测器，通过检测施加到连接器的参数的微小变化来测量施加到连接器的张力当连接器的另一端从运动检测装置被拉开时的张力检测器;方向检测器，测量连接器在基本上垂直于张力的平面中的水平和垂直方向上的运动，以便检测拉力的方向并且长度检测器通过施加到连接器的张力来检测从运动检测装置延伸的连接器的长度。当拉出诸如电缆的连接器时，检测装置检测关于电缆的拉动状况的信息。因此，当用户通过握住安装在狗机器人上的检测装置的电缆来行走狗机器人时，检测装置提供关于电缆保持条件的信息以通知狗机器人的用户意图，使得狗机器人按照用户的意图跟随用户。因此，由于检测装置向装置提供关于用户的意图的信息，所以可以通过采用检测装置方便地使用诸如狗机器人的自动移动装置。

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