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。

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。

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。

公开(公告)号：US20100049366A1

公开(公告)日：2010-02-25

申请号：US12518245

申请日：2007-11-30

申请人： Yu Cheol Lee ,  Won Pil Yu ,  Sang Ik Na ,  Hyo Sung Ahn

发明人： Yu Cheol Lee ,  Won Pil Yu ,  Sang Ik Na ,  Hyo Sung Ahn

IPC分类号： G06F19/00

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： 公开了一种应对环境变化以构建移动装置的环境地图及其装置的方法。 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物环境地图。 因此，可以快速，准确地应用改变的环境信息来构建环境图。

公开(公告)号：US09310807B2

公开(公告)日：2016-04-12

申请号：US12692113

申请日：2010-01-22

申请人： Yu-Cheol Lee ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

发明人： Yu-Cheol Lee ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

IPC分类号： G01C21/32 ,  G01S3/78 ,  G05D1/02 ,  B25J5/00

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 predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position 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，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

公开(公告)号：US20100121488A1

公开(公告)日：2010-05-13

申请号：US12692113

申请日：2010-01-22

申请人： Yu-Cheol LEE ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

发明人： Yu-Cheol LEE ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

IPC分类号： G06F19/00

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 predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position 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，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

公开(公告)号：US08954191B2

公开(公告)日：2015-02-10

申请号：US12718380

申请日：2010-03-05

申请人： Dong Hoon Yi ,  Young Gie Kim ,  Jeong Suk Yoon ,  Seong Soo Lee ,  Jei Hun Lee ,  Seung Min Baek ,  Yoo Jin Choi ,  Sang Ik Na ,  Su Uk Choe ,  Yie Bin Kim

发明人： Dong Hoon Yi ,  Young Gie Kim ,  Jeong Suk Yoon ,  Seong Soo Lee ,  Jei Hun Lee ,  Seung Min Baek ,  Yoo Jin Choi ,  Sang Ik Na ,  Su Uk Choe ,  Yie Bin Kim

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05D1/02

CPC分类号： G05D1/0274 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0203

摘要： Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.

摘要翻译： 公开了一种移动机器人及其控制方法。 整个移动区域被划分为多个区域，并且通过使用分割区域的多个图像的特征点逐渐地进行部分地图。 然后，将地图补偿为闭合的曲线，从而制作整个地图。 此外，当移动机器人位于清洁区域的相邻区域的边界处，形成闭合曲线的边界时，移动机器人基于地图中包括的特征点之间的匹配结果来补偿其位置，以及 从清洁过程中捕获的图像中提取特征点。