公开(公告)号：US09452797B2

公开(公告)日：2016-09-27

申请号：US13723534

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： Joo Hyung Kim ,  Kyung Shik Roh ,  Kee Hong Seo

IPC: B62D57/02 ,  B25J9/00 ,  B25J15/00 ,  B62D57/032

CPC classification number: B62D57/02 ,  B25J9/0009 ,  B25J15/0023 ,  B62D57/032 ,  Y10S901/01

Abstract: A support module includes a first rigid body, a space formation body connected to the first rigid body and forming an enclosed space, and a plurality of hard particles located within the enclosed space. When at least a predetermined pressure is applied to the support module such that a volume of the enclosed space is decreased to a predetermined value, the plurality of hard particles and space formation body form a second rigid body. Such a support module may improve the stability of a walking robot, the grip of a gripping structure, or the stability of a load-bearing structure.

Abstract translation: 支撑模块包括第一刚体，连接到第一刚体并形成封闭空间的空间形成体以及位于封闭空间内的多个硬质颗粒。 当至少一个预定的压力被施加到支撑模块上使得封闭空间的体积减小到预定值时，多个硬质颗粒和空间形成体形成第二刚体。 这种支撑模块可以提高步行机器人的稳定性，夹持结构的抓地力或承载结构的稳定性。

公开(公告)号：US09416855B2

公开(公告)日：2016-08-16

申请号：US14270880

申请日：2014-05-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Young Bo Shim ,  Young Do Kwon ,  Byung June Choi ,  Yong Jae Kim ,  Kyung Shik Roh ,  Min Hyung Lee

IPC: F16H19/08 ,  B25J9/10

CPC classification number: F16H19/08 ,  B25J9/104 ,  F16H2019/085 ,  Y10T74/18848

Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.

Abstract translation: 线连接装置包括链接单元和被配置为驱动链接单元的驱动单元。 连杆单元包括第一连杆，可旋转地联接到第一连杆的第二连杆，可旋转地联接到第二连杆的第三连杆，多个电线，每个电线的一端固定到第三连杆，并且固定 在驱动单元的另一端，驱动单元从驱动单元向第三连杆传递驱动力，路径形成结构，用于形成驱动单元和第三连杆之间的每根导线的路径，以及 长度保持结构，用于保持驱动单元和第三连杆之间的每条线的长度恒定。

公开(公告)号：US09304001B2

公开(公告)日：2016-04-05

申请号：US14187670

申请日：2014-02-24

Applicant: Samsung Electronics Co., Ltd.

Inventor： Soon Yong Park ,  Kyung Shik Roh

IPC: G01C21/00 ,  G01C21/20 ,  G05D1/02

CPC classification number: G01C21/20 ,  G05D1/0231 ,  G05D1/0274

Abstract: In some example embodiments, a position recognition method of an autonomous mobile robot may include: dividing a grid map into a plurality of spaces; extracting, by a processor, learning data of each of the plurality of spaces; generating, by the processor, space models of each of the plurality of spaces using the extracted learning data; and/or recognizing, by the processor, a current position of the autonomous mobile robot based on the extracted learning data, the space models, and actual range scan data input through the autonomous mobile robot.

Abstract translation: 在一些示例性实施例中，自主移动机器人的位置识别方法可以包括：将网格图划分成多个空格; 由处理器提取所述多个空间中的每一个的学习数据; 由所述处理器使用所提取的学习数据生成所述多个空间中的每一个的空间模型; 和/或由处理器基于所提取的学习数据，空间模型和通过自主移动机器人输入的实际范围扫描数据来识别自主移动机器人的当前位置。

公开(公告)号：US09219859B2

公开(公告)日：2015-12-22

申请号：US14020107

申请日：2013-09-06

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Hyo Seok Hwang ,  Kyung Shik Roh ,  Suk June Yoon

IPC: H04N5/225 ,  H04N5/232

CPC classification number: H04N5/23238

Abstract: Disclosed is a camera assembly having a wide viewing angle using a variable mirror. The camera assembly includes a variable mirror located in front of an image sensor, a variable mirror controller to switch a mode of the variable mirror to one of a reflection mode to reflect light incident upon the variable mirror and a transmission mode to transmit light incident upon the variable mirror, an image sensor to sense the light reflected by the variable mirror to acquire first image data and to sense the light transmitted through the variable mirror to acquire second image data, and an image processing unit to register the first image data and the second image data acquired by the image sensor to generate a third image.

Abstract translation: 公开了一种使用可变镜具有宽视角的相机组件。 相机组件包括位于图像传感器前面的可变镜，可变镜控制器，用于将可变镜的模式切换到反射模式中的一种，以反射入射在可变镜上的光，以及透射模式以透射入射到其上的光 可变镜，用于感测由可变镜反射的光以获取第一图像数据并感测透过可变镜来传输的光以获取第二图像数据的图像传感器，以及图像处理单元，用于将第一图像数据和 由图像传感器获取的第二图像数据以产生第三图像。

公开(公告)号：US09192447B2

公开(公告)日：2015-11-24

申请号：US14050874

申请日：2013-10-10

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Byung Kwon Choi ,  Kyung Shik Roh ,  Tae Sin Ha

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  B25J9/1689 ,  G05B2219/45117

Abstract: A surgical robot system capable of storing all data transmitted and received in the surgical robot system and a method of controlling the same includes a slave device performing surgery on a patient, a master device controlling a surgical operation of the slave device, an imaging device transmitting a medical image regarding the patient to the slave device and the master device, and a monitoring device comprising a storage module receiving all data transmitted and received among the slave device, the master device, and the imaging device, serializing the received data on a per transmission-time-information basis to generate serial packets, and storing the generated serial packets, and a reproduction module dividing the stored serial packets into a plurality of unit packets and transmitting the unit packets to a device for display.

Abstract translation: 能够存储外科手术机器人系统中发送和接收的所有数据的外科手术机器人系统及其控制方法包括：对患者执行手术的从属装置，控制从属装置的外科手术的主装置， 关于患者到从属设备和主设备的医学图像，以及监视设备，包括接收从设备，主设备和成像设备之间发送和接收的所有数据的存储模块，将接收到的数据按照 传输时间信息的基础上生成串行数据包，并存储生成的串行数据包;以及再现模块，将存储的串行数据包分为多个单位数据包，并将单元数据包发送到显示设备。

公开(公告)号：US09159131B2

公开(公告)日：2015-10-13

申请号：US14162883

申请日：2014-01-24

Applicant: Samsung Electronics Co., Ltd.

Inventor： Soon Yong Park ,  Kyung Shik Roh

IPC: G06K9/32 ,  G06T7/00 ,  G06K9/62 ,  G06K9/68

CPC classification number: G06T7/003 ,  G06K9/6203 ,  G06T7/337

Abstract: Data matching includes receiving a piece of first relational data and a piece of second relational data. The piece of first relational data is associated with a plurality of pieces of first data, and the piece of second relational data is associated with a plurality of pieces of second data. An approximate value of the piece of second relational data is calculated. A similarity is calculated based on the piece of first relational data and the approximate value of the piece of second relational data. A correspondence between a piece of the first data and a piece of the second data is determined based on the calculated similarity. An alignment parameter is calculated based on the determined correspondence, and a first data group including the piece of the first data is matched with a second data group including the piece of the second data based on the alignment parameter.

Abstract translation: 数据匹配包括接收一条第一关系数据和一条第二关系数据。 第一关系数据与多条第一数据相关联，第二关系数据与多条第二数据相关联。 计算第二关系数据的近似值。 基于该第一关系数据和该第二关系数据的近似值来计算相似度。 基于计算出的相似度来确定第一数据和第二数据之间的对应关系。 基于确定的对应性来计算对准参数，并且基于对准参数将包括第一数据的第一数据组与包括第二数据的第二数据组进行匹配。

公开(公告)号：US09073209B2

公开(公告)日：2015-07-07

申请号：US13770357

申请日：2013-02-19

Applicant: Samsung Electronics Co., Ltd.

Inventor： Min Hyung Lee ,  Kyung Shik Roh ,  Bok Man Lim

IPC: G05B15/00 ,  B25J9/16 ,  B62D57/032

CPC classification number: B25J9/162 ,  B25J9/1633 ,  B62D57/032

Abstract: A walking robot capable of implementing a balancing action to ensure a stable walking on uneven ground based on an FSM-based walking control method, and a control method thereof, is capable of implementing stable walking by controlling torques of the hip joint, the knee joint and the ankle joint by use of FSM without calculating complicated Dynamics Equations. The walking robot ensures stable walking on uneven ground through a simple calculation by use of the angle formed by the ground and the both feet The walking robot is made to be applied to a robot provided with joints having six degrees of freedom through a simple calculation of compensation angles.

Abstract translation: 基于FSM行走控制方法的能够实现平衡动作以确保在不平坦地面上稳定行走的行走机器人及其控制方法能够通过控制髋关节，膝关节的扭矩来实现稳定的行走 和踝关节使用FSM，而不计算复杂的动力学方程。 步行机器人通过使用地面和双脚形成的角度通过简单的计算来确保在不平坦的地面上的稳定的行走。通过简单的计算，将步行机器人应用于具有六自由度的关节的机器人， 补偿角度。

公开(公告)号：US09058804B2

公开(公告)日：2015-06-16

申请号：US13685221

申请日：2012-11-26

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Byung Kwon Choi ,  Young Do Kwon ,  Dong Soo Kim ,  Kyung Shik Roh

IPC: G10L21/00 ,  G10L19/008 ,  G10L25/21

CPC classification number: G10L19/008 ,  G10L25/21

Abstract: A speech signal transmission apparatus includes an extractor to extract speech signals from speech source signals collected by a plurality of microphones, a power calculator to calculate powers of speech signals of multiple channels and set any one of the speech signals of the multiple channels as a reference speech signal, a synchronization adjustor to adjust synchronization of the other speech signals based on the reference speech signal, a signal generator to generate extraction signals by offsetting the reference speech signal from the other synchronization-adjusted speech signals, an encryptor to compress and encrypt the reference speech signal and the extraction signals, and a transmitter to transmit the compressed and encrypted reference speech signal and extraction signals.

Abstract translation: 语音信号发送装置包括从多个麦克风收集的语音源信号中提取语音信号的提取器，功率计算器，计算多个声道的语音信号的功率，并设定多声道的任意一个语音信号作为参照 语音信号，同步调整器，用于基于参考语音信号调整其他语音信号的同步;信号发生器，通过将参考语音信号与其他同步调整的语音信号相抵消来产生提取信号;加密器，用于压缩和加密 参考语音信号和提取信号，以及发送器，用于发送压缩和加密的参考语音信号和提取信号。

公开(公告)号：US20140331798A1

公开(公告)日：2014-11-13

申请号：US14270880

申请日：2014-05-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Young Bo Shim ,  Young Do Kwon ,  Byung June Choi ,  Yong Jae Kim ,  Kyung Shik Roh ,  Min Hyung Lee

IPC: F16H19/08

CPC classification number: F16H19/08 ,  B25J9/104 ,  F16H2019/085 ,  Y10T74/18848

Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.

Abstract translation: 线连接装置包括链接单元和被配置为驱动链接单元的驱动单元。 连杆单元包括第一连杆，可旋转地联接到第一连杆的第二连杆，可旋转地联接到第二连杆的第三连杆，多个电线，每个电线的一端固定到第三连杆，并且固定 在驱动单元的另一端，驱动单元从驱动单元向第三连杆传递驱动力，路径形成结构，用于形成驱动单元和第三连杆之间的每根导线的路径，以及 长度保持结构，用于保持驱动单元和第三连杆之间的每条线的长度恒定。

公开(公告)号：US20140313359A1

公开(公告)日：2014-10-23

申请号：US14020107

申请日：2013-09-06

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Hyo Seok HWANG ,  Kyung Shik Roh ,  Suk June Yoon

IPC: H04N5/232

CPC classification number: H04N5/23238

Abstract: Disclosed is a camera assembly having a wide viewing angle using a variable mirror. The camera assembly includes a variable mirror located in front of an image sensor, a variable mirror controller to switch a mode of the variable mirror to one of a reflection mode to reflect light incident upon the variable mirror and a transmission mode to transmit light incident upon the variable mirror, an image sensor to sense the light reflected by the variable mirror to acquire first image data and to sense the light transmitted through the variable mirror to acquire second image data, and an image processing unit to register the first image data and the second image data acquired by the image sensor to generate a third image.

Abstract translation: 公开了一种使用可变镜具有宽视角的相机组件。 相机组件包括位于图像传感器前面的可变镜，可变镜控制器，用于将可变镜的模式切换到反射模式中的一种，以反射入射在可变镜上的光，以及透射模式以透射入射到其上的光 可变镜，用于感测由可变镜反射的光以获取第一图像数据并感测透过可变镜来传输的光以获取第二图像数据的图像传感器，以及图像处理单元，用于将第一图像数据和 由图像传感器获取的第二图像数据以产生第三图像。