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1. 发明申请

WO2010114235A1 MOBILE ROBOT WITH SINGLE CAMERA AND METHOD FOR RECOGNIZING 3D SURROUNDINGS OF THE SAME 审中-公开
标题翻译：具有单个摄像机的移动机器人和用于识别其中的3D环绕的方法
公开(公告)号：WO2010114235A1
公开(公告)日：2010-10-07
申请号：PCT/KR2010/001556
申请日：2010-03-12
申请人： LG ELECTRONICS INC. , CHOI, Yoo-Jin , KIM, Young-Gie , YOON, Jeong-Suk , LEE, Seong-Soo , KIM, Yie-Bin , BAEK, Seung-Min , NA, Sang-Ik , CHOE, Su-Uk , YI, Dong-Hoon , LEE, Jei-Hun
发明人： CHOI, Yoo-Jin , KIM, Young-Gie , YOON, Jeong-Suk , LEE, Seong-Soo , KIM, Yie-Bin , BAEK, Seung-Min , NA, Sang-Ik , CHOE, Su-Uk , YI, Dong-Hoon , LEE, Jei-Hun
IPC分类号： A47L9/28 , B25J13/08 , A47L9/00
CPC分类号： A47L9/009 , A47L2201/04 , G01S15/931 , G01S2015/938 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0203
摘要： Disclosed are a mobile robot with a single camera capable of performing a cleaning process with respect to surroundings, and capable of more precisely making a 3D map of the surroundings including a plurality of feature points, and a method for recognizing 3D surroundings of the same. According to the method, images of the surroundings are captured, and a preset number of particles with respect to feature points of a first image are projected to a second image based on matching information of feature points extracted from the two images sequentially captured, thereby extracting 3D information of the surroundings.
摘要翻译：公开了具有能够对周围环境进行清洁处理的单个摄像机的移动机器人，并且能够更精确地制作包括多个特征点的周围环境的3D地图，以及用于识别3D环境的方法。根据该方法，捕获周围的图像，并且基于从顺序捕获的两个图像中提取的特征点的匹配信息，将关于第一图像的特征点的预定数量的粒子投影到第二图像，从而提取环境的3D信息。

2. 发明申请

WO2007066872A1 METHOD OF MAPPING AND NAVIGATING MOBILE ROBOT BY ARTIFICIAL LANDMARK AND LOCAL COORDINATE 审中-公开
标题翻译：通过人工地名和本地坐标绘制和导航移动机器人的方法
公开(公告)号：WO2007066872A1
公开(公告)日：2007-06-14
申请号：PCT/KR2006/002933
申请日：2006-07-26
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , DOH, Nakju , YU, Won Pil , NA, Sang Ik
发明人： DOH, Nakju , YU, Won Pil , NA, Sang Ik
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。

3. 发明申请

WO2008069498A1 SURROUNDINGS MAPPING APPARATUS CAPABLE OF APPLYING QUICKLY CHANGED SURROUNDINGS INFORMATION IN MOBILE ROBOT AND METHOD THEREOF 审中-公开
标题翻译：能够在移动机器人中应用快速变化的环境的环境映射设备及其方法
公开(公告)号：WO2008069498A1
公开(公告)日：2008-06-12
申请号：PCT/KR2007/006125
申请日：2007-11-30
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , LEE, Yu Cheol , YU, Won Pil , NA, Sang Ik , AHN, Hyo-Sung
发明人： LEE, Yu Cheol , YU, Won Pil , NA, Sang Ik , AHN, Hyo-Sung
IPC分类号： B25J19/00
CPC分类号： G05D1/0274 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0207
摘要： A method of responding to environmental change to build an environment map of a mobile apparatus and an apparatus thereof are disclosed. The apparatus includes a traveling unit traveling a mobile apparatus according to a command, a distance measuring unit measuring a distance from the mobile apparatus to a moving object, an environment map-generating unit generating an environment map based on a measured distance, a moving object detecting unit detecting the moving object moved after generating the environment map by comparing a distance from the mobile apparatus to the moving object with the newly measured distance, and a controlling unit updating the environment map according to the command by selectively applying changed environment information containing the moving object to the built environment map when the moving object is detected. Thus, the changed environmental information can be rapidly and precisely applied to build the environment map.
摘要翻译：公开了一种响应于环境变化以构建移动装置的环境图及其装置的方法。该装置包括根据命令行进移动装置的移动单元，测量从移动装置到移动物体的距离的距离测量单元，基于测量距离生成环境地图的环境地图生成单元，移动物体检测单元，通过利用新测量的距离比较从移动设备到移动物体的距离来检测在产生环境地图之后移动的移动物体，以及控制单元，通过选择性地应用改变的环境信息来选择性地应用包含当检测到移动物体时，将物体移动到建筑环境地图。因此，可以快速，准确地应用改变的环境信息来构建环境图。

4. 发明申请

WO2007013773A8 APPARATUS FOR DETECTING THE MOVEMENT OF ITS EMBEDDED ATTACHING MEANS 审中-公开
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：WO2007013773A8
公开(公告)日：2008-04-03
申请号：PCT/KR2006002969
申请日：2006-07-28
申请人： KOREA ELECTRONICS TELECOMM , DOH NAK-JU , YU WON-PIL , LEE YU-CHEOL , AHN HYO-SUNG , NA SANG-IK
发明人： DOH NAK-JU , YU WON-PIL , LEE YU-CHEOL , AHN HYO-SUNG , NA SANG-IK
IPC分类号： G01L5/04
CPC分类号： 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被拉离运动检测装置时的张力检测器;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。

5. 发明申请

WO2008038865A1 AUTONOMOUS MOBILE ROBOT CAPABLE OF DETOURING OBSTACLE AND METHOD THEREOF 审中-公开
标题翻译：自动移动机器人能够清除障碍物及其方法
公开(公告)号：WO2008038865A1
公开(公告)日：2008-04-03
申请号：PCT/KR2007/000385
申请日：2007-01-23
申请人： ELETRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , NA, Sang-Ik , YU, Won-Pil , LEE, Yu-Cheol , DO, Nak-Ju
发明人： NA, Sang-Ik , YU, Won-Pil , LEE, Yu-Cheol , DO, Nak-Ju
IPC分类号： B25J9/10
CPC分类号： G05D1/0227 , G05D1/0238 , G05D2201/0206
摘要： Provided are an autonomous mobile robot capable of detouring an obstacle, and a method thereof. The autonomous mobile robot includes a moving object; an extension unit connected to the moving object and extending in proportion to a pulling force of the moving object; a drive unit moving the autonomous mobile robot toward the moving object corresponding to the pulling force of the object connected to the extension unit; a route information obtaining unit obtaining route information according to an extension length to which the extension unit extends corresponding to the pulling force of the moving object; an obstacle detecting unit detecting presence of an obstacle placed within a predetermined distance in a moving direction of the autonomous mobile robot that is being led by the moving object; and a control unit controlling the drive unit such that the autonomous mobile robot moves along a route based on the route information. Accordingly, collision between the obstacle and the autonomous mobile robot can be prevented, and the autonomous mobile robot can naturally detour the obstacle.
摘要翻译：提供一种能够迂回障碍物的自主移动机器人及其方法。自主移动机器人包括移动物体; 连接到移动物体并与移动物体的拉力成比例地延伸的延伸单元; 驱动单元，使所述自主移动机器人朝向与所述延伸单元连接的物体的拉力对应的移动物体移动; 路线信息获取单元根据与移动物体的拉力相对应的扩展单元延伸的延伸长度来获取路线信息; 障碍物检测单元，检测由移动物体引导的自主移动机器人的移动方向上放置在预定距离内的障碍物的存在; 以及控制单元，其控制所述驱动单元，使得所述自主移动机器人基于所述路线信息沿着路线移动。因此，可以防止障碍物与自主移动机器人之间的碰撞，自主移动机器人自然地绕行障碍物。

6. 发明申请

WO2009014332A2 METHOD AND SYSTEM FOR CREATING INDOOR ENVIRONMENT MAP 审中-公开
标题翻译：用于创建室内环境映射的方法和系统
公开(公告)号：WO2009014332A2
公开(公告)日：2009-01-29
申请号：PCT/KR2008/004090
申请日：2008-07-11
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , LEE, Yu-Cheol , NA, Sang Ik , YU, Won Pil , HAN, Kyu Seo
发明人： LEE, Yu-Cheol , NA, Sang Ik , YU, Won Pil , HAN, Kyu Seo
IPC分类号： G01S13/06
CPC分类号： G05D1/0274 , G01C21/32 , G05D1/0231 , G05D1/024 , G05D1/0272 , G05D2201/0203
摘要： A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the estimated position of the mobile unit if the estimated position is matched with the measured position, and creating the indoor environment map using the corrected position and the measured distance.
摘要翻译：创建室内环境地图的方法包括：当移动单元使用编码器行进时通过检测车轮的旋转来获取编码的位置信息，以基于编码的位置信息预测移动单元的位置;获取使用所述距离测量传感器测量从所述移动单元到存在于周围环境中的物体的距离，预测要移动的所述移动单元的位置，估计在所述移动单元的预测位置处从所述移动单元到所述物体的距离，确定估计距离是否与测量距离匹配，如果估计位置与测量位置匹配，则校正移动单元的估计位置，并且使用校正位置和测量距离创建室内环境地图。

7. 发明申请

WO2009014332A3 METHOD AND SYSTEM FOR CREATING INDOOR ENVIRONMENT MAP 审中-公开
标题翻译：用于创建室内环境地图的方法和系统
公开(公告)号：WO2009014332A3
公开(公告)日：2009-03-19
申请号：PCT/KR2008004090
申请日：2008-07-11
申请人： KOREA ELECTRONICS TELECOMM , LEE YU-CHEOL , NA SANG IK , YU WON PIL , HAN KYU SEO
发明人： LEE YU-CHEOL , NA SANG IK , YU WON PIL , HAN KYU SEO
IPC分类号： G01S13/06
CPC分类号： G05D1/0274 , G01C21/32 , G05D1/0231 , G05D1/024 , G05D1/0272 , G05D2201/0203
摘要： A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the estimated position of the mobile unit if the estimated position is matched with the measured position, and creating the indoor environment map using the corrected position and the measured distance.
摘要翻译：创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息来预测移动单元的位置，获取从移动单元到使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与测量距离，如果估计位置与测量位置匹配，则校正移动单元的估计位置，以及使用校正位置和测量距离创建室内环境地图。

8. 发明申请

WO2007013773A1 APPARATUS FOR DETECTING THE MOVEMENT OF ITS EMBEDDED ATTACHING MEANS 审中-公开
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：WO2007013773A1
公开(公告)日：2007-02-01
申请号：PCT/KR2006/002969
申请日：2006-07-28
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , DOH, Nak-Ju , YU, Won-Pil , LEE, Yu-Cheol , AHN, Hyo-Sung , NA, Sang-Ik
发明人： DOH, Nak-Ju , YU, Won-Pil , LEE, Yu-Cheol , AHN, Hyo-Sung , NA, Sang-Ik
IPC分类号： G01L5/04
CPC分类号： 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被拉离运动检测装置时的张力检测器;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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