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1. 发明申请

US20180186004A1 ROBOT AND ELECTRONIC DEVICE FOR PERFORMING HAND-EYE CALIBRATION 审中-公开
公开(公告)号：US20180186004A1
公开(公告)日：2018-07-05
申请号：US15860071
申请日：2018-01-02
申请人： Samsung Electronics Co., Ltd.
发明人： Soon Yong PARK , Kyung Shik ROH , Sung Hwan AHN , Suk June YOON , So Hee LEE , Young Pil JEON
IPC分类号： B25J9/16 , G06T7/70 , B25J9/02
摘要： A robot for performing hand-eye calibration is provided. The robot includes a robot arm including a plurality of joints, a plurality of arm sections, and an end effector, a communication interface, and a control circuit. The control circuit controls the robot arm to place the external object on a worktable after the external object is grasped by the end effector, acquires coordinates of a central point of the external object in a coordinate system of the camera from an image of the external object, and calculates a calibration parameter for defining a relation between a coordinate system of the end effector and the coordinate system of the camera, based on coordinates of the end effector in a base coordinate system of the robot and coordinates of the central point of the external object in the coordinate system of the camera when the external object is placed on the worktable.

2. 发明申请

US20170102709A1 ROBOT CLEANER AND CONTROLLING METHOD THEREOF 有权
公开(公告)号：US20170102709A1
公开(公告)日：2017-04-13
申请号：US15204219
申请日：2016-07-07
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： No San KWAK , Kyung Shik ROH , Soon Yong PARK , Suk June YOON , So Hee LEE , Min Yong CHOI
IPC分类号： G05D1/02 , A47L11/40
CPC分类号： G05D1/0242 , A47L9/009 , A47L9/2805 , A47L9/2842 , A47L9/2847 , A47L9/2852 , A47L9/2857 , A47L11/4011 , A47L2201/022 , A47L2201/04 , G05D1/0225 , G05D2201/0215
摘要： Embodiments of the present disclosure relate to a robot cleaner and a control method of the robot cleaner, more particularly, to a robot cleaner configured to correct position information of the robot cleaner by acquiring a position of a docking station during the robot clear drives and to correct a map by using corrected position information, and a control method of the robot cleaner.

3. 发明申请

US20150320514A1 SURGICAL ROBOTS AND CONTROL METHODS THEREOF 审中-公开
标题翻译：外科手术及其控制方法
公开(公告)号：US20150320514A1
公开(公告)日：2015-11-12
申请号：US14706497
申请日：2015-05-07
申请人： Samsung Electronics Co., Ltd.
发明人： Sung Hwan AHN , Kyung Shik ROH , Suk June YOON , Hyo Seok HWANG
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B34/30 , A61B34/35 , A61B90/37 , A61B2034/102 , A61B2034/2048 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/301 , A61B2090/363 , A61B2090/364
摘要： A surgical robot may include: an image information acquisition unit configured to acquire image information of an intra-abdominal environment while the surgical robot performs a surgical operation; and/or a controller configured to recognize positions of an endoscope and a tool, mounted on the surgical robot, based on the acquired image information and kinematic information of links included in the endoscope and the tool. A surgical robot may include: an image information acquisition unit configured to acquire image information of an intra-abdominal environment while the surgical robot performs a surgical operation; an inertia measurement unit configured to acquire inertia measurement information of the surgical robot; and/or a controller configured to recognize positions of an endoscope and a tool, mounted on the surgical robot, based on the acquired image information and the inertia measurement information.
摘要翻译：手术机器人可以包括：图像信息获取单元，被配置为在手术机器人执行外科手术时获取腹部环境的图像信息; 和/或控制器，其被配置为基于所获取的图像信息和包括在内窥镜和工具中的链接的运动信息来识别安装在外科手术机器人上的内窥镜和工具的位置。手术机器人可以包括：图像信息获取单元，被配置为在手术机器人执行外科手术时获取腹部环境的图像信息; 惯性测量单元，被配置为获取所述外科手术机器人的惯性测量信息; 和/或被配置为基于所获取的图像信息和惯性测量信息来识别安装在外科手术机器人上的内窥镜和工具的位置的控制器。

4. 发明申请

US20140316252A1 MARKER AND METHOD OF ESTIMATING SURGICAL INSTRUMENT POSE USING THE SAME 审中-公开
标题翻译：使用该方法评估手术仪器的标记和方法
公开(公告)号：US20140316252A1
公开(公告)日：2014-10-23
申请号：US14151268
申请日：2014-01-09
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： No San KWAK , Seung Yong HYUNG , Woong KWON , Suk June YOON
IPC分类号： A61B5/06
CPC分类号： A61B5/064 , A61B5/7203 , A61B2576/00
摘要： A marker includes a basal surface, and a plurality of reference lines provided at the basal surface in a longitudinal direction of the basal surface. The reference lines may have different gradients. The marker may be attached to an instrument and a camera may capture an image of the marker. Pose information of the instrument may be estimated based on the captured image.
摘要翻译：标记物包括基底表面和设置在基底表面的纵向方向上的基底表面处的多个参考线。参考线可能具有不同的梯度。标记可以附接到仪器，并且相机可以捕获标记的图像。可以基于捕获的图像来估计器械的姿势信息。

5. 发明申请

US20190394615A1 METHOD FOR PROVIDING LOCATION INFORMATION AND APPARATUS THEREFOR 审中-公开
公开(公告)号：US20190394615A1
公开(公告)日：2019-12-26
申请号：US16469466
申请日：2017-12-15
申请人： Samsung Electronics Co., Ltd. , Korea Advanced Institute of Science and Technology
发明人： Sung Hwan AHN , Byeong Cheol MOON , Suk Hoon JUNG , Dong Soo HAN , Kyung Shik ROH , Suk June YOON
IPC分类号： H04W4/02 , H04W64/00 , H04B17/318 , H04W88/08
摘要： A server may include a communication circuit communicating with a user terminal, storage including a fingerprint DB storing fingerprints corresponding to a plurality of points and a signal fluctuation probability DB, and a processor electrically connected to the communication circuit and the storage. The processor may be configured to store similarity between first signal strength and second signal strength, which are determined based on a probability that a pair of the first signal strength and the second signal strength received from a first AP occurs with respect to fingerprints corresponding to a first point, in the signal fluctuation probability DB, to obtain a fingerprint including signal strength received from the first AP, from the user terminal, and to determine a location of the user terminal based on the obtained fingerprint and the signal fluctuation probability DB.

6. 发明申请

US20170083023A1 APPARATUS FOR LOCALIZING CLEANING ROBOT, CLEANING ROBOT, AND CONTROLLING METHOD OF CLEANING ROBOT 审中-公开
公开(公告)号：US20170083023A1
公开(公告)日：2017-03-23
申请号：US15203079
申请日：2016-07-06
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Soon Yong PARK , No San KWAK , Kyung Shik ROH , Suk June YOON , So Hee LEE , Min Yong CHOI
IPC分类号： G05D1/02
摘要： A cleaning robot includes a data acquisition unit that acquires actual sensor data by measuring a distance from a current position to an object to be measured; a local map acquisition unit that acquires a local map by scanning the vicinity of the current position based on an environmental map stored in advance; and a processor that determines coordinates of the current position for the local map by performing matching between the local map and the actual sensor data, and determines a traveling direction based on the current position by calculating a main segment angle of a line segment existing in the local map.

7. 发明申请

US20150019103A1 MOBILE ROBOT HAVING FRICTION COEFFICIENT ESTIMATION FUNCTION AND FRICTION COEFFICIENT ESTIMATION METHOD 有权
标题翻译：具有摩擦系数估计函数和摩擦系数估计方法的移动机器人
公开(公告)号：US20150019103A1
公开(公告)日：2015-01-15
申请号：US14187924
申请日：2014-02-24
申请人： Samsung Electronics Co., Ltd.
发明人： Hyun Do CHOI , Suk June YOON
IPC分类号： B60W40/068 , B60T8/1763
CPC分类号： B60W40/068 , B60T8/172 , B60T8/1763 , B60T2210/12 , B60W2550/148 , Y10S901/01
摘要： A mobile robot configured to move on a ground. The mobile robot including a contact angle estimation unit estimating contact angles between wheels of the mobile robot and the ground and uncertainties associated with the contact angles, a traction force estimation unit estimating traction forces applied to the wheels and traction force uncertainties, a normal force estimation unit estimating normal forces applied to the wheels and normal force uncertainties, a friction coefficient estimation unit estimating friction coefficients between the wheels and the ground, a friction coefficient uncertainty estimation unit estimating friction coefficient uncertainties, and a controller determining the maximum friction coefficient from among the friction coefficients such that the maximum friction coefficient has an uncertainty less than a threshold and at a point of time when the torque applied to each of the wheels changes from an increasing state to a decreasing state, among the estimated friction coefficients.
摘要翻译：配置为在地面上移动的移动机器人。移动机器人包括估计移动机器人的车轮与地面之间的接触角的接触角估计单元以及与接触角相关的不确定性，牵引力估计单元估计施加到车轮的牵引力和牵引力不确定性，法向力估计估计施加到车轮的法向力和法向力不确定度的摩擦系数估计单元，估计车轮与地面之间的摩擦系数的摩擦系数估计单元，估计摩擦系数不确定性的摩擦系数不确定度估计单元，以及从摩擦系数估计单元摩擦系数使得最大摩擦系数具有小于阈值的不确定度，并且在施加到每个车轮的转矩从估计摩擦系数中的增加状态改变到减小状态的时间点。

8. 发明申请

US20130243337A1 IMAGE PROCESSING APPARATUS AND METHOD THEREOF 有权
标题翻译：图像处理装置及其方法
公开(公告)号：US20130243337A1
公开(公告)日：2013-09-19
申请号：US13845889
申请日：2013-03-18
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Hyo Seok HWANG , Huang Xiangsheng , Dong Soo KIM , Kyung Shik ROH , Young Bo SHIM , Suk June YOON , Seung Yong HYUNG , Won Jun HWANG
IPC分类号： G06K9/46
CPC分类号： G06K9/46 , G06K9/00201 , G06K9/00362
摘要： An image processing apparatus for searching for a feature point by use of a depth image and a method thereof are provided. The image processing apparatus includes an input unit configured to input a three-dimensional image having depth information, a feature point extraction unit configured to obtain a designated point from an object image extracted from the depth image to obtain a feature point that is located at a substantially farthest distance from the designated point, and to obtain other feature points that are located at substantially farthest distances from feature points that are previously obtained as well as the designated point. The apparatus includes a control unit configured to control the input unit and the feature point extraction unit so that time in estimating a structure of the object is reduced, and a recognition result is enhanced.
摘要翻译：提供了一种通过使用深度图像来搜索特征点的图像处理装置及其方法。图像处理装置包括：输入单元，被配置为输入具有深度信息的三维图像;特征点提取单元，被配置为从从深度图像提取的对象图像中获取指定点，以获得位于距离指定点基本上最远的距离，并且获得位于距先前获得的特征点基本上最远的距离以及指定点的其他特征点。该装置包括：控制单元，被配置为控制输入单元和特征点提取单元，从而减少估计对象结构的时间，增强识别结果。

9. 发明申请

US20130238295A1 METHOD AND APPARATUS FOR POSE RECOGNITION 审中-公开
标题翻译：用于识别的方法和装置
公开(公告)号：US20130238295A1
公开(公告)日：2013-09-12
申请号：US13785396
申请日：2013-03-05
申请人： SAMSUNG ELECTRONICS CO., LTD.
发明人： Seung Yong HYUNG , Dong Soo KIM , Kyung Shik ROH , Young Bo SHIM , Suk June YOON , Won Jun HWANG , Hyo Seok HWANG
IPC分类号： G06F17/50
CPC分类号： G06F17/5009 , G06T7/251 , G06T7/75 , G06T2207/10028 , G06T2207/30196
摘要： An apparatus and a method for pose recognition, the method for pose recognition including generating a model of a human body in a virtual space, predicting a next pose of the model of the human body based on a state vector having an angle and an angular velocity of each part of the human body as a state variable, predicting a depth image about the predicted pose, and recognizing a pose of a human in a depth image captured in practice, based on a similarity between the predicted depth image and the depth image captured in practice, wherein the next pose is predicted based on the state vector having an angular velocity as a state variable, thereby reducing the number of pose samples to be generated and improving the pose recognition speed.
摘要翻译：一种用于姿势识别的装置和方法，所述姿态识别方法包括在虚拟空间中生成人体的模型，基于具有角度和角速度的状态向量来预测人体的模型的下一姿态根据所预测的深度图像和所拍摄的深度图像之间的相似度，预测人体的每个部分作为状态变量，预测关于预测姿态的深度图像，以及在实际捕获的深度图像中识别人的姿态在实践中，其中基于具有作为状态变量的角速度的状态矢量来预测下一个姿势，从而减少要产生的姿势样本的数量并提高姿势识别速度。

10. 发明申请

US20200329339A1 METHOD FOR PROVIDING LOCATION INFORMATION AND APPARATUS THEREFOR 审中-公开
公开(公告)号：US20200329339A1
公开(公告)日：2020-10-15
申请号：US16915055
申请日：2020-06-29
申请人： Samsung Electronics Co., Ltd. , Korea Advanced Institute of Science and Technology
发明人： Sung Hwan AHN , Byeong Cheol MOON , Suk Hoon JUNG , Dong Soo HAN , Kyung Shik ROH , Suk June YOON
IPC分类号： H04W4/02 , H04B17/318 , H04W64/00 , H04W88/08
摘要： A server may include a communication circuit communicating with a user terminal, storage including a fingerprint DB storing fingerprints corresponding to a plurality of points and a signal fluctuation probability DB, and a processor electrically connected to the communication circuit and the storage. The processor may be configured to store similarity between first signal strength and second signal strength, which are determined based on a probability that a pair of the first signal strength and the second signal strength received from a first AP occurs with respect to fingerprints corresponding to a first point, in the signal fluctuation probability DB, to obtain a fingerprint including signal strength received from the first AP, from the user terminal, and to determine a location of the user terminal based on the obtained fingerprint and the signal fluctuation probability DB.

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