Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same
    31.
    发明授权
    Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same 有权
    用于检测没有运动假象的血流信号的装置和方法,以及使用其的应力测试装置

    公开(公告)号:US07727159B2

    公开(公告)日:2010-06-01

    申请号:US10909305

    申请日:2004-08-03

    IPC分类号: A61B5/02

    摘要: An apparatus and method to detect a blood flow signal free from a motion artifact, and a stress test apparatus using the same, enhance data reliability of the blood flow signal by removing the motion artifact from the blood flow signal detected by photo-plethysmography. The apparatus to detect the blood flow signal includes a base pattern correlation coefficient calculating unit to determine peak points in the blood flow signal sensed from a body of an examinee using a blood flow sensing unit, and to calculate correlation coefficients of each peak point using a predetermined base pattern, and a motion artifact processing unit to determine the motion artifact using the calculated correlation coefficients and to remove the motion artifact from the blood flow signal. Thus, reliability of the blood flow signal is enhanced by effectively removing the motion artifact from the blood flow signal detected by the photo-plethysmography.

    摘要翻译: 一种用于检测没有运动伪影的血流信号的装置和方法,以及使用其的应力测试装置,通过从通过光体积描记术检测的血流信号中消除运动伪影来增强血流信号的数据可靠性。 用于检测血流信号的装置包括基本图案相关系数计算单元,用于使用血液流量检测单元确定从被检体的身体感测的血流信号中的峰值点,并且使用 预定的基本图案和运动假象处理单元,以使用所计算的相关系数来确定运动伪影,并从血流信号中去除运动伪像。 因此,通过从通过光体积描记术检测的血流信号有效地去除运动伪影,可以提高血流信号的可靠性。

    Method and apparatus for processing line pattern using convolution kernel
    32.
    发明授权
    Method and apparatus for processing line pattern using convolution kernel 有权
    使用卷积核处理线条图案的方法和装置

    公开(公告)号:US07657099B2

    公开(公告)日:2010-02-02

    申请号:US11350847

    申请日:2006-02-10

    IPC分类号: G06K9/56 G06K9/40

    摘要: A method and apparatus for processing a line pattern using a convolution kernel. An apparatus for processing a line pattern, the apparatus including a light source module radiating predetermined light and a camera module capturing an image of an object, onto which the light is radiated, the apparatus processing a line pattern included in the captured image, includes: a kernel learning unit determining a kernel shape and an optimal threshold value with respect to each vertical interval of the image using a simple line pattern formed at a predetermined location; a convolution application unit applying convolution to a captured test image using the determined kernel shape and optimal threshold value; and a region selection unit scanning each pixel column in the image, to which the convolution is applied, in a vertical direction, and setting pixel values of pixel groups other than a selected pixel group to 0 when a plurality of pixel groups having pixel values other than 0 exists.

    摘要翻译: 一种使用卷积核处理线条图案的方法和装置。 一种用于处理线条图案的装置,该装置包括:放射预定光源的光源模块和捕获放射光的​​物体的图像的照相机模块,该处理包含在拍摄图像中的线条图案的装置包括: 核心学习单元使用形成在预定位置处的简单线图案来确定相对于图像的每个垂直间隔的核心形状和最佳阈值; 卷积应用单元使用所确定的核心形状和最佳阈值对捕获的测试图像应用卷积; 以及区域选择单元,在垂直方向扫描卷积的图像中的每个像素列,并且当具有像素值为其他的多个像素组时,将除了所选像素组之外的像素组的像素值设置为0 比0存在。

    Method, medium, and apparatus for correcting pose of moving robot
    33.
    发明申请
    Method, medium, and apparatus for correcting pose of moving robot 有权
    用于校正移动机器人姿态的方法,介质和装置

    公开(公告)号:US20090149994A1

    公开(公告)日:2009-06-11

    申请号:US12153600

    申请日:2008-05-21

    IPC分类号: B25J5/00

    摘要: A method, apparatus, and medium for correcting a pose of a moving robot are provided. The method includes sensing an entrance using a distance-sensing sensor mounted on the moving robot, storing first distance data of the sensed entrance, after the moving robot travels, newly sensing the entrance using the distance-sensing sensor, and correcting the pose of the moving robot using the first distance data and second distance data corresponding to the entrance newly sensed after the moving robot travels.

    摘要翻译: 提供了一种用于校正移动机器人姿势的方法,装置和介质。 该方法包括使用安装在移动机器人上的距离感测传感器来感测入口,存储感测到的入口的第一距离数据,在移动机器人行进之后,使用距离感测传感器重新感测入口,并且修正 移动机器人使用与移动机器人行进后新感应的入口对应的第一距离数据和第二距离数据。

    Apparatus and method of measuring distance using structured light
    35.
    发明申请
    Apparatus and method of measuring distance using structured light 有权
    使用结构光测量距离的装置和方法

    公开(公告)号:US20080159595A1

    公开(公告)日:2008-07-03

    申请号:US11987116

    申请日:2007-11-27

    IPC分类号: G06K9/00

    摘要: Provided are an apparatus and method of measuring a distance using structured light. The apparatus includes a binarization unit binarizing an image, an image identification unit identifying an image having connected pixels in the binarized image, a length ratio calculation unit obtaining the length ratio of the major axis of the image having the connected pixels to a minor axis perpendicular to the major axis, a pixel mean calculation unit obtaining the mean of pixel values of the image having the connected pixels, and an image extraction unit extracting an image formed by the light irradiated from the light source, from the images having connected pixels using the length ratio and the mean of the pixel values.

    摘要翻译: 提供了使用结构光测量距离的装置和方法。 该装置包括二值化单元二值化图像,识别在二值化图像中具有连接像素的图像的图像识别单元,长度比计算单元,获得具有连接像素的图像的长轴与短轴垂直的长度比 对于长轴,像素平均值计算单元获得具有连接像素的图像的像素值的平均值,以及图像提取单元,从具有连接像素的图像中提取由光源照射的光形成的图像, 长度比和像素值的平均值。

    Method, and apparatus for measuring distance using radio frequency signal
    36.
    发明申请
    Method, and apparatus for measuring distance using radio frequency signal 有权
    使用射频信号测量距离的方法和装置

    公开(公告)号:US20080143582A1

    公开(公告)日:2008-06-19

    申请号:US11907947

    申请日:2007-10-18

    IPC分类号: G01S13/08

    CPC分类号: G01S13/74 G01S7/40

    摘要: Provided are a method, apparatus, and medium for measuring a distance using a radio frequency (RF) signal. The method of measuring a distance includes setting the transmitter power of an RF signal of a signal generating module to a minimum so as to measure the longest distance when no obstacle exists, measuring a distance between the signal generating module and a fixed module using the RF signal whose transmitter power is set to the minimum, if the measured distance between the signal generating module and the fixed module is available, determining that no obstacle exists therebetween, and if the measured distance is not available, determining that an obstacle exists therebetween, and determining the distance according to the result of the determination of existence of an obstacle.

    摘要翻译: 提供了一种使用射频(RF)信号测量距离的方法,装置和介质。 测量距离的方法包括将信号发生模块的RF信号的发射机功率设置为最小,以便在没有障碍物时测量最长距离,使用RF测量信号发生模块和固定模块之间的距离 如果信号发生模块和固定模块之间的测量距离可用,确定其间没有障碍物,并且如果测量距离不可用,则确定其间存在障碍物,以及 根据确定障碍物的存在的结果确定距离。

    Obstruction-determining apparatus for preventing mobile robot from becoming obstructed and boundary-estimation method and medium using the obstruction-determining apparatus
    37.
    发明申请
    Obstruction-determining apparatus for preventing mobile robot from becoming obstructed and boundary-estimation method and medium using the obstruction-determining apparatus 失效
    用于防止移动机器人被阻挡的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质

    公开(公告)号:US20080084284A1

    公开(公告)日:2008-04-10

    申请号:US11898060

    申请日:2007-09-07

    IPC分类号: G05B15/00 B60Q1/00 G05B19/00

    摘要: An obstruction-determining apparatus for preventing a mobile robot from being obstructed in a niche and a boundary-estimation method and medium using the obstruction-determining apparatus are disclosed. More particularly, an obstruction-determining apparatus which can determine whether a mobile robot is obstructed in a niche, and enable a mobile robot to easily escape from an obstacle if the mobile robot is determined to be obstructed in the niche, and a boundary-estimation method and medium for estimating the boundaries of an obstacle with a niche using the obstruction-determining apparatus. The obstruction-determining apparatus includes a contact module which collides with an obstacle above the mobile robot, a contact-operating module which rotates or moves linearly as a result of the collision between the contact module and the obstacle, and a sensing module which detects the rotation or the linear movement of the contact-operating module and determines whether the mobile robot is obstructed in a niche.

    摘要翻译: 公开了一种用于防止移动机器人在利基中被阻碍的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质。 更具体地,涉及一种障碍物判定装置,其能够判断移动机器人是否受到利基的阻碍,并且如果移动机器人被确定为在利基中被阻碍,则能够使移动机器人容易地从障碍物逃脱,并且边界估计 方法和介质,用于使用障碍物确定装置估计具有利基的障碍物的边界。 障碍物确定装置包括与移动机器人上方的障碍物相撞的接触模块,由于接触模块与障碍物之间的碰撞而线性旋转或移动的接触操作模块,以及检测模块 旋转或接触操作模块的线性移动,并确定移动机器人是否在利基中被阻挡。

    Method, apparatus, and medium for calibrating compass sensor in consideration of magnetic environment and method, apparatus, and medium for measuring azimuth using the compass sensor calibration method, apparatus, and medium
    38.
    发明申请
    Method, apparatus, and medium for calibrating compass sensor in consideration of magnetic environment and method, apparatus, and medium for measuring azimuth using the compass sensor calibration method, apparatus, and medium 失效
    使用罗盘传感器校准方法,装置和介质考虑磁环境的方法,装置和介质用于校准罗盘传感器的方法,装置和介质,用于测量方位角

    公开(公告)号:US20080071492A1

    公开(公告)日:2008-03-20

    申请号:US11892529

    申请日:2007-08-23

    IPC分类号: G01C17/38

    CPC分类号: G01C17/38

    摘要: A method of calibrating a compass sensor in consideration of a magnetic environment is provided. The method includes (a) acquiring magnetic force data by rotating a compass sensor 360 degrees, the compass sensor including a biaxial magnetometer, (b) fitting the acquired magnetic force data to an ellipse function, (c) transforming the acquired magnetic force data and the ellipse function into a circle which is centered on an origin, and (d) calculating a distortion factor based on an inclination of a major axis of the ellipse function or the acquired magnetic force data to a horizontal axis, the distortion factor indicating the degree to which a magnetic field is distorted.

    摘要翻译: 提供考虑到磁环境校准罗盘传感器的方法。 该方法包括:(a)通过360度旋转罗盘传感器获取磁力数据,罗盘传感器包括双轴磁力计,(b)将所获取的磁力数据拟合成椭圆函数,(c)将所获取的磁力数据和 椭圆函数成为以原点为中心的圆,(d)基于椭圆函数的长轴或获取的磁力数据与水平轴的倾斜度计算失真因子,表示程度的失真因子 磁场失真。

    Apparatus and method for correcting bias of gyroscope mounted on mobile robot
    39.
    发明申请
    Apparatus and method for correcting bias of gyroscope mounted on mobile robot 有权
    用于校正安装在移动机器人上的陀螺仪偏差的装置和方法

    公开(公告)号:US20080022790A1

    公开(公告)日:2008-01-31

    申请号:US11822405

    申请日:2007-07-05

    IPC分类号: G01C19/54

    CPC分类号: G01C19/42 Y10T74/1229

    摘要: An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.

    摘要翻译: 一种校正安装在移动机器人上并测量移动机器人的角速度的陀螺仪的偏置的装置。 该装置包括:分别测量移动机器人的相应的至少一个车轮的行进速度的至少一个编码器; 建模单元,通过使用测量的行进速度来计算移动机器人的角速度; 偏置推定单元通过使用所计算的角速度和所测量的角速度之间的差值来确定置信区间,并且通过使用所述差值之中的置信区间中的值来计算推定的偏差; 以及偏置去除单元,从所测量的角速度除去所述推定的偏压。

    Robot using absolute azimuth and mapping method thereof
    40.
    发明申请
    Robot using absolute azimuth and mapping method thereof 审中-公开
    机器人采用绝对方位角及其映射方法

    公开(公告)号:US20070271003A1

    公开(公告)日:2007-11-22

    申请号:US11594163

    申请日:2006-11-08

    IPC分类号: G06F19/00

    摘要: A robot using an absolute azimuth to navigate and a mapping method thereof. The robot includes a control unit controlling a traveling direction of a body of the robot by using the absolute azimuth, which indicates an orientation of the body with respect to a specified reference axis, and a drive unit moving the body under the control of the control unit.

    摘要翻译: 使用绝对方位角导航的机器人及其映射方法。 机器人包括控制单元,该控制单元通过使用表示主体相对于指定基准轴的取向的绝对方位来控制机器人的主体的行进方向;以及驱动单元,其在控制下控制该主体 单元。