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1. 发明授权

US11645778B2 Apparatus and method for identifying and picking object using artificial intelligence algorithm 有权
公开(公告)号：US11645778B2
公开(公告)日：2023-05-09
申请号：US16767421
申请日：2018-11-06
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Jun Hong Min , Soon Yong Park , Ji Min Kim , Kyung Shik Roh , Wook Bahn
IPC分类号： G06K9/00 , G06T7/73 , G06T7/50 , G06T7/70 , G06T7/00 , G06T1/00 , G06V10/70 , G06V10/774 , G06F18/00 , G06F18/21 , G06F18/28 , G06V10/143 , G06V20/10
CPC分类号： G06T7/74 , G06F18/00 , G06F18/21 , G06F18/28 , G06T1/0014 , G06T7/0004 , G06T7/50 , G06T7/70 , G06V10/143 , G06V10/70 , G06V10/774 , G06V20/10 , G05B2219/39001 , G05B2219/40053 , G05B2219/40543 , G05B2219/40564 , G06T2207/20081 , G06V2201/06
摘要： According to various embodiments of the present invention, an electronic device comprises: a memory including instructions and a training database, which includes data, on at least one object, acquired on the basis of an artificial intelligence algorithm; at least one sensor; and a processor connected to the at least one sensor and the memory, wherein the processor can be configured to execute the instructions in order to acquire data on a designated area including the at least one object by using the at least one sensor, identify location information and positioning information on the at least one object on the basis of the training database, and transmit a control signal for picking the at least one object to a picking tool related to the electronic device on the basis of the identified location information and positioning information.

2. 发明授权

US10921820B2 Movable object and control method thereof 有权
公开(公告)号：US10921820B2
公开(公告)日：2021-02-16
申请号：US15838778
申请日：2017-12-12
申请人： Samsung Electronics Co., Ltd.
发明人： Suk June Yoon , No San Kwak , Kyung Shik Roh , Soon Yong Park , Sung Hwan Ahn
IPC分类号： G05D1/02 , G06N3/04 , A47L11/40 , G01C21/20 , H04W4/33 , H04W4/70 , G01C21/00 , G01S5/16 , G01S5/02
摘要： Disclosed herein are a movable object and a movable object control method. The movable object control method may include acquiring an image of a movable object's surroundings, acquiring a signal having strength changing depending on a location of the movable object, generating a map on the basis of the signal and the image of the surroundings of the movable object, and applying the map to an algorithm to acquire a learned algorithm.

3. 发明授权

US10279481B2 Electronic device and cradle therefore 有权
公开(公告)号：US10279481B2
公开(公告)日：2019-05-07
申请号：US15248189
申请日：2016-08-26
申请人： Samsung Electronics Co., Ltd.
发明人： So Hee Lee , Won Ho Shin , No San Kwak , Kyung Shik Roh , Joong Kyung Park , Suk June Yoon
IPC分类号： B25J9/16 , H04N7/18 , G06K9/00 , G06K9/32
摘要： An electronic device to be put on a cradle may include a housing including a part in a hemispherical shape and physically coming into contact with the cradle in an arbitrary position when the electronic device is put on the cradle, a display arranged on another part of the housing, a camera module to obtain an image in a direction that the display faces, a sensor module to sense an orientation of the electronic device; and a processor to determine a target orientation of the electronic device based on the obtained image, and create control data to change the orientation of the electronic device based on the sensed orientation and the target orientation of the electronic device.

4. 发明授权

US09687301B2 Surgical robot system and control method thereof 有权
公开(公告)号：US09687301B2
公开(公告)日：2017-06-27
申请号：US13943962
申请日：2013-07-17
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Min Hyung Lee , Young Bo Shim , Byung June Choi , Young Do Kwon , Kyung Shik Roh
IPC分类号： A61B19/00 , A61B1/00 , A61B1/04 , A61B17/04 , A61B5/055 , A61B6/03 , A61B17/062 , A61B34/30 , A61B34/37 , A61B5/00 , A61B5/11
CPC分类号： A61B34/37 , A61B1/00009 , A61B1/00149 , A61B1/04 , A61B5/055 , A61B5/11 , A61B5/1124 , A61B5/7264 , A61B5/742 , A61B6/032 , A61B17/0469 , A61B17/062 , A61B34/30
摘要： A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

5. 发明申请

US20170154431A1 MOBILE ROBOT AND METHOD FOR CONTROLLING THE SAME 审中-公开
公开(公告)号：US20170154431A1
公开(公告)日：2017-06-01
申请号：US15340496
申请日：2016-11-01
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Bo Young KIM , No San Kwak , Kyung Shik Roh , Soon Yong Park , Suk June Yoon , So Hee Lee , Min Yong Choi
IPC分类号： G06T7/00 , G06K9/00
CPC分类号： G06T7/0048 , G06K9/00664 , G06T5/003 , G06T7/74 , G06T2207/10016 , G06T2207/10028 , G06T2207/20201 , G06T2207/30241 , G06T2207/30252 , Y10S901/01 , Y10S901/47
摘要： A mobile robot and method for controlling the same are provided creating patches in images captured by a camera while the mobile robot is moving, estimating motion blur of the patches, and correcting the position of the mobile robot based on the patch from which the motion blur is eliminated, thereby increasing precision in tracking and reliability through accurate mapping. The mobile robot includes a main body, a traveler to move the main body, a camera combined with the main body to capture an image of a surrounding of the main body, a position detector to create a patch in the image captured by the camera, estimate a motion blur of the patch, and track a position of the main body based on the created patch from which the motion blur is eliminated, and a controller to control the traveler based on the position of the main body.

6. 发明授权

US09615890B2 Surgical robot system and method of controlling the same 有权
公开(公告)号：US09615890B2
公开(公告)日：2017-04-11
申请号：US13965460
申请日：2013-08-13
申请人： Samsung Electronics Co., Ltd.
发明人： Won Jun Hwang , Kyung Shik Roh , Suk June Yoon , Seung Yong Hyung
IPC分类号： A61B5/05 , A61B34/37 , A61B34/30 , A61B90/00
CPC分类号： A61B34/37 , A61B34/30 , A61B90/361 , A61B2090/364 , A61B2090/367
摘要： A surgical robot system includes a slave system to perform a surgical operation on a patient and an imaging system that includes an image capture unit including a plurality of cameras to acquire a plurality of affected area images, an image generator detecting an occluded region in each of the affected area images acquired by the plurality of cameras, removing the occluded region therefrom, warping each of the affected area images from which the occluded region is removed, and matching the affected area images to generate a final image, and a controller driving each of the plurality of cameras of the image capture unit to acquire the plurality of affected area images and inputting the acquired plurality of affected area images to the image generator to generate a final image.

7. 发明授权

US09402688B2 Surgical robot system and control method thereof 有权
标题翻译：手术机器人系统及其控制方法
公开(公告)号：US09402688B2
公开(公告)日：2016-08-02
申请号：US14162338
申请日：2014-01-23
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Seung Ki Min , Kyung Shik Roh
IPC分类号： G05B19/04 , A61B19/00 , A61B17/00
CPC分类号： A61B34/37 , A61B34/30 , A61B2017/00123
摘要： A surgical robot system and a control method thereof include a slave device and a master device to control motion of the slave device. The surgical robot system further includes a monitoring device that inspects a signal transmitted within the system in real time to stop motion of the slave device if an abnormal signal is detected.
摘要翻译：外科手术机器人系统及其控制方法包括从属装置和主装置，用于控制从装置的运动。手术机器人系统还包括监视装置，如果检测到异常信号，则检查在系统内传输的信号实时停止从属装置的运动。

8. 发明授权

US09132547B2 Robot and method to recognize and handle abnormal situations 有权
标题翻译：识别和处理异常情况的机器人和方法
公开(公告)号：US09132547B2
公开(公告)日：2015-09-15
申请号：US13738485
申请日：2013-01-10
申请人： Samsung Electronics Co., Ltd.
发明人： Jun Won Jang , Kyung Shik Roh
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/1674 , G05B2219/33002 , G05B2219/33056 , G05B2219/45108
摘要： A robot and method to recognize and handle abnormal situations includes a sensing unit to sense internal and external information of the robot, a storage unit to store the information sensed by the sensing unit, an inference model, a learning model, services providable by the robot, subtasks to provide the services, and handling tasks to handle abnormal situations, and a controller to determine whether an abnormal situation has occurred while the subtasks to provide the selected service are being performed through the learning model in the storage unit and to select a handling task to handle the abnormal situation through the inference model in the storage unit if it is determined that the abnormal situation has occurred. The robot may recognize and handle abnormal situations even though data other than that defined by a designer of the robot is input thereto due to noises or operational environment.
摘要翻译：用于识别和处理异常情况的机器人和方法包括用于感测机器人的内部和外部信息的感测单元，用于存储由感测单元感测的信息的存储单元，推理模型，学习模型，机器人可提供的服务提供服务的子任务，以及处理异常情况的处理任务，以及控制器，用于在通过存储单元中的学习模型执行提供所选服务的子任务时，确定是否发生异常情况，并选择处理如果确定发生异常情况，则通过存储单元中的推理模型来处理异常情况。即使由于机器人的设计者定义的数据，由于噪声或操作环境，机器人也可以识别和处理异常情况。

9. 发明授权

US09104944B2 Object recognition method, descriptor generating method for object recognition, and descriptor for object recognition 有权
标题翻译：对象识别方法，对象识别的描述符生成方法和对象识别的描述符
公开(公告)号：US09104944B2
公开(公告)日：2015-08-11
申请号：US13729739
申请日：2012-12-28
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Hyo Seok Hwang , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/00 , G06K9/46 , G06K9/66 , G06K9/62
CPC分类号： G06K9/4652 , G06K9/00214 , G06K9/4671 , G06K9/6211 , G06K2009/4666
摘要： An object recognition method, a descriptor generating method for object recognition, and a descriptor for object recognition capable of extracting feature points using the position relationship and color information relationship between points in a group that are sampled from an image of an object, and capable of recognizing the object using the feature points, the object recognition method including extracting feature components of a point cloud using the position information and the color information of the points that compose the point cloud of the three-dimensional (3D) image of an object, generating a descriptor configured to recognize the object using the extracted feature components; and performing the object recognition based on the descriptor.
摘要翻译：一种对象识别方法，用于对象识别的描述符生成方法，以及能够使用从对象的图像采样的组中的点之间的位置关系和颜色信息关系来提取特征点的对象识别的描述符，并且能够使用特征点识别对象，所述对象识别方法包括使用位置信息提取点云的特征成分和构成对象的三维（3D）图像的点云的点的颜色信息，生成描述符，其被配置为使用所提取的特征成分来识别对象; 以及基于描述符执行对象识别。

10. 发明申请

US20140330078A1 ENDOSCOPE AND IMAGE PROCESSING APPARATUS USING THE SAME 审中-公开
标题翻译：使用相同的内窥镜和图像处理装置
公开(公告)号：US20140330078A1
公开(公告)日：2014-11-06
申请号：US14031417
申请日：2013-09-19
申请人： Samsung Electronics Co., Ltd.
发明人： Won Jun HWANG , Kyung Shik Roh , Young Bo Shim , Suk June Yoon
IPC分类号： A61B1/00
CPC分类号： A61B1/00193 , A61B1/00009 , A61B1/00096 , A61B1/00177 , A61B1/00179 , A61B1/00181 , A61B1/00183 , A61B1/051 , A61B1/0623 , A61B1/0676 , A61B1/3132 , A61B2034/301
摘要： An endoscope to acquire a 3D image and a wide view-angle image and an image processing apparatus using the endoscope includes a front image acquirer to acquire a front image and a lower image acquirer to acquire a lower image in a downward direction of the front image acquirer. The front image acquirer includes a first objective lens and a second objective lens arranged side by side in a horizontal direction. The lower image acquirer includes a third objective lens located below the first objective lens and inclined from the first objective lens and a fourth objective lens located below the second objective lens and inclined from the second objective lens.
摘要翻译：用于获取3D图像和宽视角图像的内窥镜和使用该内窥镜的图像处理装置包括：前摄像获取器，用于获取前图像和下图像获取器，以获取前图像的向下方向的下图像; 收购。前摄像装置包括沿水平方向并排设置的第一物镜和第二物镜。下部图像获取器包括位于第一物镜下方并从第一物镜倾斜的第三物镜和位于第二物镜下方并从第二物镜倾斜的第四物镜。

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