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    Robot and control method for the same
    61.
    发明授权
    Robot and control method for the same 有权
    机器人和控制方法相同

    公开(公告)号：US09120225B2

    公开(公告)日：2015-09-01

    申请号：US13686061

    申请日：2012-11-27

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Jun Won Jang ,  Kyung Shik Roh

    IPC: B25J9/16

    CPC classification number: B25J9/1612 ,  G05B2219/39486 ,  G05B2219/39497 ,  G05B2219/39531 ,  G05B2219/39536

    Abstract: A robot, which may accurately detect whether or not the robot is gripping an object, even without a tactile sensor, as a result of using a sorter that utilizes a torque generated from a joint of a hand and the shape of the hand as feature data, and a control method for the robot includes a state sensing unit to sense a state of the robot, a feature vector producing unit to extract feature data from the state sensing unit and to produce a feature vector using the feature data, and a learning-based data sorter to judge an operating state of the robot using the feature vector produced by the feature vector producing unit and to output the judged result.

    Abstract translation: 作为使用利用从手的关节产生的扭矩和手的形状作为特征数据的分拣机的结果，即使没有触觉传感器也可以准确地检测机器人是否夹持物体的机器人 并且所述机器人的控制方法包括感测所述机器人的状态的状态检测部，特征量生成部，从所述状态检测部提取特征数据，并使用所述特征数据生成特征向量， 使用由特征矢量产生单元产生的特征向量来判断机器人的操作状态并输出判断结果。

    Apparatus for estimating robot position and method thereof
    62.
    发明授权
    Apparatus for estimating robot position and method thereof 有权
    用于估计机器人位置的装置及其方法

    公开(公告)号：US08903161B2

    公开(公告)日：2014-12-02

    申请号：US13723540

    申请日：2012-12-21

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： No San Kwak ,  Kyung Shik Roh ,  Sung Hwan Ahn ,  Suk June Yoon ,  Seung Yong Hyung

    IPC: G06T7/00

    CPC classification number: G06T7/0042 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244 ,  Y10S901/47

    Abstract: A method for estimating a location of a device uses a color image and a depth image. The method includes matching the color image to the depth image, generating a 3D reference image based on the matching, generating a 3D object image based on the matching, extracting a 2D reference feature point from the reference image, extracting a 2D reference feature point from the object image, matching the extracted reference feature point from the reference image to the extracted reference feature point from the object image, extracting a 3D feature point from the object image using the matched 2D reference feature point, and estimating the location of the device based on the extracted 3D feature point.

    Abstract translation: 用于估计设备的位置的方法使用彩色图像和深度图像。 该方法包括将彩色图像与深度图像进行匹配，基于匹配生成3D参考图像，基于匹配生成3D对象图像，从参考图像中提取2D参考特征点，从参考图像中提取2D参考特征点 所述对象图像将所提取的参考特征点与所述参考图像相对于所提取的参考特征点与所述对象图像匹配，使用所述匹配的2D参考特征点从所述对象图像提取3D特征点，以及基于所述对象图像的位置估计 在提取的3D特征点上。

    MULTI-TOUCH RECOGNITION APPARATUS AND CONTROL METHOD THEREOF
    63.
    发明申请
    MULTI-TOUCH RECOGNITION APPARATUS AND CONTROL METHOD THEREOF 有权
    多触摸识别装置及其控制方法

    公开(公告)号：US20130201158A1

    公开(公告)日：2013-08-08

    申请号：US13760314

    申请日：2013-02-06

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Ji Hyo LEE ,  Kyung Shik Roh ,  Young Bo Shim

    IPC: G06F3/042

    CPC classification number: G06F3/0425 ,  G06T7/254 ,  G06T2207/10048

    Abstract: Disclosed herein are a multi-touch recognition apparatus and a control method thereof. The multi-touch recognition apparatus executes blur filtering for noise removal when an image is input through a camera unit photographing a screen of a display panel supporting multi-touch, calculates and outputs a difference image obtained by removing the background image stored in the storage unit from the blur-filtered image, calculates a new background image using the difference image and a binary image of the difference image, and updates the background image stored in the storage unit using the calculated new background image, thereby effectively removing a background other than multi-touch and thus improving multi-touch recognition performance.

    Abstract translation: 这里公开了一种多点触摸识别装置及其控制方法。 当通过拍摄支持多点触摸的显示面板的屏幕的相机单元输入图像时，多点识别装置执行用于噪声去除的模糊滤波，计算并输出通过去除存储在存储单元中的背景图像而获得的差分图像 从模糊滤波图像，使用差分图像和差分图像的二值图像计算新的背景图像，并且使用计算出的新背景图像更新存储在存储单元中的背景图像，从而有效地去除多个 从而提高了多点触摸识别性能。

    ROBOT AND CONTROL METHOD THEREOF
    64.
    发明申请
    ROBOT AND CONTROL METHOD THEREOF 有权
    机器人及其控制方法

    公开(公告)号：US20130178978A1

    公开(公告)日：2013-07-11

    申请号：US13738409

    申请日：2013-01-10

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Ji Young KIM ,  Kwang Kyu Lee ,  Young Do Kwon ,  Kyung Shik Roh

    IPC: G05D3/00

    CPC classification number: G05D3/00 ,  B25J9/00 ,  B25J9/16 ,  B25J9/1612 ,  G05B2219/39486 ,  G05B2219/40407 ,  Y10S901/14 ,  Y10S901/27

    Abstract: A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.

    Abstract translation: 提供了一种机器人及其控制方法。 所述机器人包括手和手臂，配置成能够使手感测物体的抓握传感器单元，配置成确定手抓住物体是否夹持从握持传感器单元获得的信息的抓握控制单元， 基于所述对象的运动或独立坐标来控制所述手和所述手臂，以根据所述确定的结果独立地控制所述手和所述手臂，并且基于所选择的坐标来控制所述手和所述手臂，以及 坐标变换单元，被配置为基于所述基于对象的坐标来计算虚拟对象的位置和方向，并且将关于所计算的所述虚拟对象的位置和方向的信息传递给所述握持控制单元。

    Robot and electronic device for performing hand-eye calibration
    67.
    发明授权
    Robot and electronic device for performing hand-eye calibration 有权

    公开(公告)号：US10780585B2

    公开(公告)日：2020-09-22

    申请号：US15860071

    申请日：2018-01-02

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Soon Yong Park ,  Kyung Shik Roh ,  Sung Hwan Ahn ,  Suk June Yoon ,  So Hee Lee ,  Young Pil Jeon

    IPC: B25J9/02 ,  B25J9/16 ,  G06T7/70 ,  G06T7/80

    Abstract: A robot for performing hand-eye calibration is provided. The robot includes a robot arm including a plurality of joints, a plurality of arm sections, and an end effector, a communication interface, and a control circuit. The control circuit controls the robot arm to place the external object on a worktable after the external object is grasped by the end effector, acquires coordinates of a central point of the external object in a coordinate system of the camera from an image of the external object, and calculates a calibration parameter for defining a relation between a coordinate system of the end effector and the coordinate system of the camera, based on coordinates of the end effector in a base coordinate system of the robot and coordinates of the central point of the external object in the coordinate system of the camera when the external object is placed on the worktable.

    Mobile robot and method for controlling the same
    69.
    发明授权
    Mobile robot and method for controlling the same 有权

    公开(公告)号：US10229501B2

    公开(公告)日：2019-03-12

    申请号：US15340496

    申请日：2016-11-01

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Bo Young Kim ,  No San Kwak ,  Kyung Shik Roh ,  Soon Yong Park ,  Suk June Yoon ,  So Hee Lee ,  Min Yong Choi

    IPC: G06K9/00 ,  G06T7/00

    Abstract: A mobile robot and method for controlling the same are provided creating patches in images captured by a camera while the mobile robot is moving, estimating motion blur of the patches, and correcting the position of the mobile robot based on the patch from which the motion blur is eliminated, thereby increasing precision in tracking and reliability through accurate mapping. The mobile robot includes a main body, a traveler to move the main body, a camera combined with the main body to capture an image of a surrounding of the main body, a position detector to create a patch in the image captured by the camera, estimate a motion blur of the patch, and track a position of the main body based on the created patch from which the motion blur is eliminated, and a controller to control the traveler based on the position of the main body.

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