公开(公告)号：US08483874B2

公开(公告)日：2013-07-09

申请号：US12903653

申请日：2010-10-13

申请人： Myung Hee Kim ,  San Lim ,  Kyung Shik Roh ,  Bok Man Lim

发明人： Myung Hee Kim ,  San Lim ,  Kyung Shik Roh ,  Bok Man Lim

IPC分类号： G05B19/18

CPC分类号： B25J9/1664 ,  G05B2219/40519

摘要： A path planning apparatus of a robot smoothes a motion path while satisfying a constraint. In a configuration space where a manipulator of a robot performs a task, a Rapidly-exploring Random Tree (RRT) path which extends from a start point and reaches a goal point may be smoothed while satisfying a constraint to generate a stable motion path. Accordingly, path planning performance is improved and an optimal path satisfying a kinematic constraint may be rapidly obtained.

摘要翻译： 机器人的路径规划装置在满足约束条件下平滑运动路径。 在机器人的机械手执行任务的配置空间中，可以在满足约束以产生稳定的运动路径的同时平滑从起始点到达目标点的快速探索随机树（RRT）路径。 因此，路径规划性能得到改善，并且可以快速获得满足运动约束的最佳路径。

公开(公告)号：US08428343B2

公开(公告)日：2013-04-23

申请号：US13137832

申请日：2011-09-15

申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

IPC分类号： G06K9/00 ,  G06T15/00

CPC分类号： G06T7/74 ,  G06T7/55 ,  G06T2207/10028 ,  G06T2207/20076 ,  H04N13/25 ,  H04N13/254 ,  H04N13/271

摘要： A volume cell (VOXEL) map generation apparatus includes an inertia measurement unit to calculate inertia information by calculating inertia of a volume cell (VOXEL) map generator, a Time of Flight (TOF) camera to capture an image of an object, thereby generating a depth image of the object and a black-and-white image of the object, an estimation unit to calculate position and posture information of the VOXEL map generator by performing an Iterative Closest Point (ICP) algorithm on the basis of the depth image of the object, and to recursively estimate a position and posture of the VOXEL map generator on the basis of VOXEL map generator inertia information calculated by the inertia measurement unit and VOXEL map generator position and posture information calculated by the ICP algorithm, and a grid map construction unit to configure a grid map based on the recursively estimated VOXEL map generator position and posture.

摘要翻译： 音量单元（VOXEL）地图生成装置包括惯性测量单元，其通过计算体积单元（VOXEL）图生成器的惯性，飞行时间（TOF）照相机来捕获对象的图像的惯量来计算惯性信息，从而生成 物体的深度图像和物体的黑白图像;估计单元，其通过基于所述对象的深度图像执行迭代最近点（ICP）算法来计算所述VOXEL图生成器的位置和姿势信息; 并且基于由惯性测量单元计算的VOXEL图生成器惯性信息和由ICP算法计算的VOXEL映射发生器位置和姿势信息，以及网格图构造单元递归地估计VOXEL映射生成器的位置和姿势 基于递归估计的VOXEL映射生成器位置和姿势来配置网格图。

公开(公告)号：US08401783B2

公开(公告)日：2013-03-19

申请号：US12654037

申请日：2009-12-08

申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

IPC分类号： G06F17/00

CPC分类号： G06T17/00 ,  G05D1/0253 ,  G05D1/0274 ,  G06T7/215 ,  G06T7/246 ,  G06T2207/10028 ,  G06T2207/30252

摘要： Disclosed herein is a method of building a map of a mobile platform moving in a dynamic environment and detecting an object using a 3D camera sensor, e.g., an IR TOF camera sensor, for localization. A localization technology to separate and map a dynamic object and a static object is applied to a mobile platform, such as an unmanned vehicle or a mobile robot. Consequently, the present method is capable of accurately building map information based on the static object in a dynamic environment having a large number of dynamic objects and achieving a dynamic object avoidance or chasing function using position information acquired to build the map.

摘要翻译： 本文公开了一种构建在动态环境中移动的移动平台的地图的方法，并且使用3D摄像机传感器（例如IR TOF摄像机传感器）来检测物体用于定位。 用于分离和映射动态对象和静态对象的定位技术被应用于诸如无人驾驶车辆或移动机器人的移动平台。 因此，本方法能够在具有大量动态对象的动态环境中基于静态对象准确地构建地图信息，并且使用获取的用于构建地图的位置信息来实现动态对象回避或追逐功能。

公开(公告)号：US08352074B2

公开(公告)日：2013-01-08

申请号：US12805269

申请日：2010-07-21

申请人： Guochunxu ,  Kyung Shik Roh ,  San Lim ,  Bok Man Lim ,  Myung Hee Kim

发明人： Guochunxu ,  Kyung Shik Roh ,  San Lim ,  Bok Man Lim ,  Myung Hee Kim

IPC分类号： G05B19/18

CPC分类号： B25J9/1664 ,  G05B2219/40455

摘要： A path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate.

摘要翻译： 机器人的路径规划装置和方法，其中计划机器人访问物体以抓住对象的路径。 所述路径规划方法包括：当所述机器人手从沿着所述机器人手访问对象的多个访问路径候选者中选择的一个访问路径候选者移动时，判断机器人的机器人手是否与障碍物碰撞以掌握所述对象， 当机器人手不与障碍物碰撞时所选择的访问路径候选者的访问分数，以及使用所选择的访问路径候选者的访问分数来确定访问路径规划。

公开(公告)号：US20120136480A1

公开(公告)日：2012-05-31

申请号：US13317999

申请日：2011-11-02

申请人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

发明人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

IPC分类号： G05B19/04 ,  G05D15/01

CPC分类号： G05D15/01 ,  A61B6/102 ,  A61B6/107 ,  A61B6/4441 ,  A61B6/4447 ,  A61B6/4452

摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment is easily moved.

摘要翻译： 提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。 当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（ 或驱动功率）。 为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向 由操作者施加的力使得医疗设备容易移动。

公开(公告)号：US20120121126A1

公开(公告)日：2012-05-17

申请号：US13218850

申请日：2011-08-26

申请人： Won Jun Hwang ,  Ji Hyo Lee ,  Kyung Shik Roh ,  Suk June Yoon

发明人： Won Jun Hwang ,  Ji Hyo Lee ,  Kyung Shik Roh ,  Suk June Yoon

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06T7/593 ,  G06T7/62 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20081 ,  G06T2207/30201

摘要： An apparatus and method for estimating a three-dimensional face position. The method of estimating the three-dimensional face position includes acquiring two-dimensional image information from a single camera, detecting a face region of a user from the two-dimensional image information, calculating the size of the detected face region, estimating a distance between the single camera and the user's face using the calculated size of the face region, and obtaining positional information of the user's face in a three-dimensional coordinate system using the estimated distance between the single camera and the user's face. Accordingly, it is possible to estimate the distance between the user and the single camera using the size of the face region of the user in the image information acquired by the single camera so as to acquire the three-dimensional position coordinates of the user.

摘要翻译： 一种用于估计三维脸部位置的装置和方法。 估计三维脸部位置的方法包括从单个照相机获取二维图像信息，从二维图像信息中检测用户的脸部区域，计算检测到的脸部区域的尺寸，估计检测到的脸部区域的距离 使用计算出的面部区域的尺寸的单个照相机和用户的脸部，并且使用单个照相机和用户脸部之间的估计距离来获得三维坐标系中的用户脸部的位置信息。 因此，可以使用由单个照相机获取的图像信息中的用户的脸部区域的大小来估计用户和单个照相机之间的距离，以获得用户的三维位置坐标。

公开(公告)号：US20120089295A1

公开(公告)日：2012-04-12

申请号：US13236050

申请日：2011-09-19

申请人： Sung Hwan AHN ,  Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon

发明人： Sung Hwan AHN ,  Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon

IPC分类号： G05D1/00

CPC分类号： G05D1/0274 ,  G05D1/0242 ,  G05D2201/0217

摘要： A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.

摘要翻译： 一种移动机器人和用于构建其的地图的方法，其中可以使用可以实时获取3D距离信息的飞行时间（TOF）相机来构建移动机器人的周围环境的3D地图。 该方法获取存在于移动机器人移动的路径中的对象的3D距离信息，累积获取的3D距离信息以构建特定级别的地图，并将该地图存储在数据库中，然后分层地匹配存储在 数据库构建一个集合空间的3D地图。 该方法可以快速且准确地构建移动机器人的周围环境的3D地图。

公开(公告)号：US20120078419A1

公开(公告)日：2012-03-29

申请号：US13232383

申请日：2011-09-14

申请人： Myung Hee KIM ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

发明人： Myung Hee KIM ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

IPC分类号： G05B19/048

CPC分类号： B25J9/1669

摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.

摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个机械臂具有至少一个关节单元和一个手，并且该控制方法包括将物体分成目标和可能的把握区域，并分别对应于把持区域存储把握策略，检测物体的各个取向， 至少一个联合单元和障碍物，在判断抓住目标抓取之后，判断抓住目标抓握区域是否可行，在使用抓握方式的抓取策略生成抓取路线之后， 区域是可行的，并且在判断出目标把持区域的抓握不可行时，使用抓握策略生成一个可抓握区域的把握路线，并且控制至少一个关节单元和手来跟踪产生的抓握 路线。

公开(公告)号：US20120076355A1

公开(公告)日：2012-03-29

申请号：US13204888

申请日：2011-08-08

申请人： Suk June YOON ,  Kyung Shik Roh ,  Won Jun Hwang ,  Seung Yong Hyung ,  Sung Hwan Ahn

发明人： Suk June YOON ,  Kyung Shik Roh ,  Won Jun Hwang ,  Seung Yong Hyung ,  Sung Hwan Ahn

IPC分类号： G06K9/00

CPC分类号： G06T7/251

摘要： A 3D object tracking method and apparatus in which a model of an object to be tracked is divided into a plurality of polygonal planes and the object is tracked using texture data of the respective planes and geometric data between the respective planes to enable more precise tracking. The 3D object tracking method includes modeling the object to be tracked to generate a plurality of planes, and tracking the plurality of planes, respectively. The modeling of the object includes selecting points from among the plurality of planes, respectively, and calculating projective invariants using the selected points.

摘要翻译： 一种3D对象跟踪方法和装置，其中要跟踪的对象的模型被划分为多个多边形平面，并且使用各个平面之间的纹理数据和各个平面之间的几何数据来跟踪对象，以使得能够进行更精确的跟踪。 3D对象跟踪方法包括对要跟踪的对象进行建模以生成多个平面，并分别跟踪多个平面。 对象的建模分别包括从多个平面中选择点，并使用所选择的点来计算投影不变量。

公开(公告)号：US20120072022A1

公开(公告)日：2012-03-22

申请号：US13232374

申请日：2011-09-14

申请人： Myung Hee KIM ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

发明人： Myung Hee KIM ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

IPC分类号： B25J9/16

CPC分类号： B25J9/1679 ,  B25J9/1612 ,  B25J9/1666 ,  G05B2219/39113 ,  G05B2219/39473 ,  G05B2219/39474 ,  G05B2219/39542

摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.

摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和 障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态 各个取向，并使用所选择的抓握姿势产生抓握路线。 在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。