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1. 发明申请

WO2009005188A1 PATH SEARCH METHOD 审中-公开
标题翻译：路径搜索方法
公开(公告)号：WO2009005188A1
公开(公告)日：2009-01-08
申请号：PCT/KR2007/006578
申请日：2007-12-17
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , LEE, Jae-Yeong , YU, Won Pil
发明人： LEE, Jae-Yeong , YU, Won Pil
IPC分类号： G01C21/34
CPC分类号： G05D1/0274
摘要： A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, is provided. The path search method includes: generating a block map having a plurality of blocks by merging a specific number of cells in the grid map; obtaining a block path by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path.
摘要翻译：提供了具有多个具有相同大小的单元的网格图中的移动对象的路径搜索方法。路径搜索方法包括：通过合并网格图中的特定数量的单元来生成具有多个块的块映射; 通过在块图中找到从起始位置到目的地位置的路径来获得块路径; 以及通过对块路径上的块中的小区执行基于小区的路径搜索来获得移动对象的最终路径。

2. 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。

3. 发明申请

WO2007052859A1 SYSTEM AND METHOD FOR REAL-TIME CALCULATING LOCATION 审中-公开
标题翻译：用于实时计算位置的系统和方法
公开(公告)号：WO2007052859A1
公开(公告)日：2007-05-10
申请号：PCT/KR2005/004304
申请日：2005-12-14
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , LEE, Jae Yeong , CHAE, Heesung , YU, Won Pil , CHO, Young Jo
发明人： LEE, Jae Yeong , CHAE, Heesung , YU, Won Pil , CHO, Young Jo
IPC分类号： B25J9/10
CPC分类号： G01S5/16 , G01S1/70 , G05D1/0246
摘要： Provided is a system and method for providing location information of robot in real time using an artificial mark. The system includes: an image processing module for obtaining an image signal by photographing artificial marks installed at a predetermined space with a space coordinate and detecting an image coordinate of artificial mark from the obtaining the image signal; a location calculating module for calculating a current location by comparing the image coordinate of detected artificial mark and a pre-stored space coordinate of artificial mark; and an artificial mark identifying module for updating current location information by selectively using one of an artificial mark tracing process and an image coordinate estimating process.
摘要翻译：提供了一种使用人造标记实时提供机器人位置信息的系统和方法。该系统包括：图像处理模块，用于通过拍摄安装在具有空间坐标的预定空间的人造标记来获得图像信号，并从获得图像信号中检测人造标记的图像坐标; 位置计算模块，用于通过比较检测到的人造标记的图像坐标和人造标记的预先存储的空间坐标来计算当前位置; 以及人造标记识别模块，用于通过选择性地使用人造标记跟踪处理和图像坐标估计处理之一来更新当前位置信息。

4. 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。

5. 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。

6. 发明申请

WO2007148846A1 METHOD AND APPARATUS FOR PERFORMING WIRELESS SENSOR NETWORK COMMUNICATING SELECTIVELY USING INFRARED AND RADIO FREQUENCY COMMUNICATION 审中-公开
标题翻译：用于执行无线传感器网络的方法和设备选择性地使用红外和无线电频率通信
公开(公告)号：WO2007148846A1
公开(公告)日：2007-12-27
申请号：PCT/KR2006003134
申请日：2006-08-10
申请人： KOREA ELECTRONICS TELECOMM , HA YOUNG GUK , SOHN JOO-CHAN , YU WON-PIL , CHO YOUNG-JO
发明人： SOHN JOO-CHAN , YU WON-PIL , CHO YOUNG-JO
IPC分类号： H04B7/24
CPC分类号： H04B10/1149 , H04W84/18 , Y02D70/00 , Y02D70/144 , Y02D70/162 , Y02D70/22 , Y02D70/46
摘要： A wireless sensor network communication apparatus and method selectively using infrared and radio frequency communication. The wireless sensor network communication apparatus includes a first communicating unit, a second communication unit, and a wireless node processor. The first communicating unit wakens a neighboring node in a sleep mode and transmits/receives the woken node and sensor data. The second communicating unit transmits/ receives the woken neighboring node and the sensor data. The wireless node processor is wakened from the sleep mode, wakens the neighboring node in the sleep mode, and transmits the sensor data with a minimum low power through one of the first and second communicating unit. Accordingly, the apparatus can perform the wireless sensor network communication with lower power compared to the case that communication is performed only by the radio frequency communication function.
摘要翻译：一种选择性地使用红外和射频通信的无线传感器网络通信装置和方法。无线传感器网络通信装置包括第一通信单元，第二通信单元和无线节点处理器。第一通信单元在休眠模式中唤醒相邻节点并且发送/接收所述唤醒节点和传感器数据。第二通信单元发送/接收唤醒的邻居节点和传感器数据。无线节点处理器从休眠模式唤醒，在休眠模式中唤醒相邻节点，并通过第一和第二通信单元之一以最小的低功率发送传感器数据。因此，与仅通过射频通信功能进行通信的情况相比，该装置可以以较低的功率执行无线传感器网络通信。

7. 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。

8. 发明申请

WO2007148846A9 METHOD AND APPARATUS FOR PERFORMING WIRELESS SENSOR NETWORK COMMUNICATING SELECTIVELY USING INFRARED AND RADIO FREQUENCY COMMUNICATION 审中-公开
公开(公告)号：WO2007148846A9
公开(公告)日：2007-12-27
申请号：PCT/KR2006/003134
申请日：2006-08-10
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , HA, Young-Guk , SOHN, Joo-Chan , YU, Won-Pil , CHO, Young-Jo
发明人： HA, Young-Guk , SOHN, Joo-Chan , YU, Won-Pil , CHO, Young-Jo
IPC分类号： H04B7/24
摘要： A wireless sensor network communication apparatus and method selectively using infrared and radio frequency communication. The wireless sensor network communication apparatus includes a first communicating unit, a second communication unit, and a wireless node processor. The first communicating unit wakens a neighboring node in a sleep mode and transmits/receives the woken node and sensor data. The second communicating unit transmits/ receives the woken neighboring node and the sensor data. The wireless node processor is wakened from the sleep mode, wakens the neighboring node in the sleep mode, and transmits the sensor data with a minimum low power through one of the first and second communicating unit. Accordingly, the apparatus can perform the wireless sensor network communication with lower power compared to the case that communication is performed only by the radio frequency communication function.

9. 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。

10. 发明申请

WO2008013355A1 SYSTEM AND METHOD FOR CALCULATING LOCATION USING A COMBINATION OF ODOMETRY AND LANDMARKS 审中-公开
标题翻译：使用多项式和地名的组合计算位置的系统和方法
公开(公告)号：WO2008013355A1
公开(公告)日：2008-01-31
申请号：PCT/KR2007/001201
申请日：2007-03-13
申请人： ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE , LEE, Jae-Yeong , CHAE, Heesung , YU, Won-Pil
发明人： LEE, Jae-Yeong , CHAE, Heesung , YU, Won-Pil
IPC分类号： B25J9/10
CPC分类号： G01S5/163 , G01C21/00 , G01C22/02 , G05D1/0234 , G05D1/0272
摘要： The present invention provides a system and method for calculating location information using a combination of an artificial landmark based location calculation method and an odometry based location calculation method, by which successive location information can be calculated using only a little number of landmarks over any wide area indoor room regardless of a landmark detection failure or temporary landmark obscurity. The system for calculating a location comprising a landmark detection unit detecting an image coordinates value of the artificial landmark corresponding to a location in a two-dimensional image coordinate system with respect to a mobile robot from an image obtained by photographing a specific space where the artificial landmarks are provided; a landmark identification unit comparing a predicted image value of the artificial landmark, obtained by converting a location coordinates value of the artificial landmark into an image coordinates value corresponding to the location in the two-dimensional image coordinate system with respect to a location coordinates value corresponding to a location in an actual three-dimensional spatial coordinate system of the mobile robot, with an image coordinates value detected by the landmark detection unit to detect the location coordinates value of the artificial landmark; a first location calculation unit calculating a current location coordinates value of the mobile robot using a predetermined location calculation algorithm based on the image coordinates value detected by the landmark detection unit and the location coordinates value detected by the landmark identification unit; a second location calculation unit calculating a current location coordinates value of the mobile robot using a predetermined location calculation algorithm based on odometry information of the mobile robot; and a main control unit updating the current location coordinates value of the mobile robot.
摘要翻译：本发明提供了一种使用基于人造地标的位置计算方法和基于测距的位置计算方法的组合来计算位置信息的系统和方法，通过该位置信息可以仅使用任何广域上的少量地标来计算连续的位置信息无论是地标检测失败还是临时地标隐蔽，室内房间。用于计算位置的系统包括地标检测单元，其从相对于移动机器人的二维图像坐标系中的位置检测到的人造地标的图像坐标值，从通过拍摄人造的特定空间获得的图像提供地标; 地标识别单元，将通过将人造地标的位置坐标值转换为对应于二维图像坐标系中的位置的图像坐标值获得的人造地标的预测图像值相对于对应的位置坐标值进行比较到移动机器人的实际三维空间坐标系中的位置，利用由地标检测单元检测的图像坐标值来检测人造地标的位置坐标值; 第一位置计算单元，基于由地标检测单元检测出的图像坐标值和由地标识别单元检测的位置坐标值，使用预定位置计算算法来计算移动机器人的当前位置坐标值; 第二位置计算单元，使用基于移动机器人的距离测量信息的预定位置计算算法来计算移动机器人的当前位置坐标值; 以及主控制单元，更新移动机器人的当前位置坐标值。

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