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公开(公告)号：US08903160B2
公开(公告)日：2014-12-02
申请号：US12926526
申请日：2010-11-23
Applicant: Woo-Yeon Jeong , Jun-Ho Park
Inventor： Woo-Yeon Jeong , Jun-Ho Park
CPC classification number: G06K9/00791 , G05D1/0219 , G05D1/0246 , G05D1/0272 , G05D2201/0203 , G06K9/00664 , G06K9/00805 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30252
Abstract: An apparatus and method of planning a traveling path of a mobile robot, the apparatus and method including a pattern extracting unit, a pattern direction extracting unit, and a path generating unit. The pattern extracting unit may extract at least one pattern from an image of a ceiling captured in a ceiling direction. The pattern direction extracting unit may extract a pattern direction of the image in the form of a line from the at least one extracted pattern. The path generating unit may generate a traveling path of the mobile robot based on the extracted pattern direction.
Abstract translation: 一种规划移动机器人的行进路径的装置和方法，所述装置和方法包括模式提取单元，模式方向提取单元和路径生成单元。 图案提取单元可以从在天花板方向上捕获的天花板的图像中提取至少一个图案。 图案方向提取单元可以从至少一个提取的图案中以线的形式提取图像的图案方向。 路径产生单元可以基于提取的图案方向生成移动机器人的行进路径。
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公开(公告)号：US08521330B2
公开(公告)日：2013-08-27
申请号：US12654680
申请日：2009-12-29
Applicant: Jun-ho Park , Woo-yeon Jeong
Inventor： Jun-ho Park , Woo-yeon Jeong
IPC: G05B15/00
CPC classification number: G05D1/0274 , G05D1/0238 , G05D2201/0203
Abstract: Disclosed are a map building apparatus and method using a distance measurement. According to an aspect, by creating a first map and a second map respectively using the characteristics of different characteristic areas based on a distance-voltage characteristics of a distance measurement sensor, and combining the first map with the second map, a grid map is created. Accordingly, since a map regarding a peripheral environment is created using plural areas of the distance-voltage characteristics, a more accurate map may be created.
Abstract translation: 公开了使用距离测量的地图制作装置和方法。 根据一个方面，通过基于距离测量传感器的距离电压特性分别使用不同特征区域的特征创建第一地图和第二地图，并且将第一地图与第二地图组合，创建网格图 。 因此，由于使用距离电压特性的多个区域来创建关于周边环境的映射，因此可以创建更准确的映射。
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公开(公告)号：US08467902B2
公开(公告)日：2013-06-18
申请号：US12155552
申请日：2008-06-05
Applicant: Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
Inventor： Hyeon Myeong , Woo-Yeon Jeong , Seok-Won Bang
CPC classification number: G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0207
Abstract: A method and apparatus for estimating the pose of a mobile robot using a particle filter is provided. The apparatus includes an odometer which detects a variation in the pose of a mobile robot, a feature-processing module which extracts at least one feature from an upward image captured by the mobile robot, and a particle filter module which determines current poses and weights of a plurality of particles by applying the mobile robot pose variation detected by the odometer and the feature extracted by the feature-processing module to previous poses and weights of the particles.
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公开(公告)号：US08271133B2
公开(公告)日：2012-09-18
申请号：US12219549
申请日：2008-07-23
Applicant: Jun-ho Park , Woo-yeon Jeong
Inventor： Jun-ho Park , Woo-yeon Jeong
CPC classification number: G05D1/0272 , G05D1/027
Abstract: An apparatus, method, and medium for sensing a slip in a mobile robot is provided. The apparatus for sensing a slip in a mobile robot includes a driving motor control unit to control a driving motor that rotates a plurality of driving wheels of the mobile robot, a first rotation sensor to sense a first rotation angle of the mobile robot by using the difference between traveling distances of the plurality of driving wheels, a second rotation sensor to sense a second rotation angle of the mobile robot by sensing a rotation of the mobile robot, and a slip-sensing unit to sense the slip of the mobile robot by comparing the first rotation angle with the second rotation angle. The driving motor control unit controls the driving motor to travel straight in a specified pattern.
Abstract translation: 提供了一种用于感测移动机器人中的滑移的装置，方法和介质。 用于感测移动机器人中的滑移的装置包括：驱动电动机控制单元，用于控制使可移动机器人的多个驱动轮旋转的驱动电动机;第一旋转传感器，用于通过使用该移动机器人感测移动机器人的第一旋转角度; 通过感测移动机器人的旋转来感测移动机器人的第二旋转角度的第二旋转传感器以及通过比较来感测移动机器人的滑移的滑动感测单元 具有第二旋转角度的第一旋转角度。 驱动马达控制单元控制驱动马达以指定的图案直线行进。
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公开(公告)号：US08175337B2
公开(公告)日：2012-05-08
申请号：US11987116
申请日：2007-11-27
Applicant: Dong-ryeol Park , Woo-yeon Jeong , Seok-won Bang , Hyoung-ki Lee
Inventor： Dong-ryeol Park , Woo-yeon Jeong , Seok-won Bang , Hyoung-ki Lee
IPC: G06K9/00
CPC classification number: G01B11/25 , G01B11/026 , G01S7/4802 , G01S7/491 , G01S17/48 , G01S17/89 , G01S17/936 , G06T7/521
Abstract: 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.
Abstract translation: 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。
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Patent Agency Ranking
公开(公告)号：US08996292B2
公开(公告)日：2015-03-31
申请号：US12926008
申请日：2010-10-20
Applicant: Jun-Ho Park , Woo-Yeon Jeong
Inventor： Jun-Ho Park , Woo-Yeon Jeong
CPC classification number: G09B29/00 , Y10S901/01
Abstract: An apparatus and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.
Abstract translation: 提供了一种生成网格图的装置和方法。 网格图生成装置以可动态调节的旋转速度360度旋转生成网格图。 动态可调的旋转速度允许网格点在网格图上具有相等的间隔。 网格图生成装置在完成转弯的同时生成网格图，并且在进行另一转时生成与非线性部分对应的网格图。
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公开(公告)号：US08938319B2
公开(公告)日：2015-01-20
申请号：US12588957
申请日：2009-11-03
Applicant: Jun-ho Park , Woo-yeon Jeong
Inventor： Jun-ho Park , Woo-yeon Jeong
CPC classification number: G05D1/0274 , G05D1/0246 , G05D1/0253 , G05D2201/0203
Abstract: A technique of detecting a slip of a robot using a particle filter and feature information of a ceiling image is disclosed. A first position of the robot is computed using a plurality of particles, a second position of the robot is computed using the feature information of the ceiling image, and whether a slip has occurred is determined based on a distance between the first position and the second position.
Abstract translation: 公开了一种使用粒子滤波器检测机器人滑动的技术和天花板图像的特征信息。 使用多个粒子计算机器人的第一位置，使用天花板图像的特征信息计算机器人的第二位置，并且基于第一位置和第二位置之间的距离来确定是否发生了滑动 位置。
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公开(公告)号：US08787614B2
公开(公告)日：2014-07-22
申请号：US13099866
申请日：2011-05-03
Applicant: Hyun-Do Choi , Woo-Yeon Jeong
Inventor： Hyun-Do Choi , Woo-Yeon Jeong
IPC: G06K9/00
CPC classification number: G06K9/00691
Abstract: A system building a map while an image sensor is moving, the system including the image sensor configured to capture images while the image sensor moves relative to one or more different locations, a sub-map building unit configured to recognize a relative location for at least the image sensor of the system using the captured images, build up a sub-map, and if a condition for stopping a building of the sub-map is met, store the sub-map which has been so far built up, an operation determining unit configured to determine whether the condition for stopping building the sub-map, an image group storing unit configured to store an image group including images that are newly captured from the image sensor after the storing of the sub-map when the condition for the stopping of the building of the sub-map is satisfied, and an overall map building unit configured to build an overall map based on the built sub-map and the stored image group when a current relative location for at least the image sensor of the system is determined to be same as a previous relative location for at least the image sensor of the system.
Abstract translation: 一种在图像传感器正在移动的过程中构建地图的系统，所述系统包括被配置为在图像传感器相对于一个或多个不同位置移动时捕获图像的所述图像传感器;被配置为至少识别相对位置的子地图构建单元 使用拍摄图像的系统的图像传感器，建立子地图，并且如果满足用于停止子地图的建筑物的条件，则存储已经建立起来的子地图，操作确定 单元，其被配置为确定用于停止构建子地图的条件;图像组存储单元，被配置为在停止的条件时存储包括从所述图像传感器新捕获的图像的图像组 满足所述子图的建立的总体地图构建单元，以及当至少所述图像的当前相对位置时，基于所构建的子地图和所存储的图像组来构建整体地图的总体地图构建单元 系统的传感器被确定为与至少系统的图像传感器的先前的相对位置相同。
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公开(公告)号：US08508527B2
公开(公告)日：2013-08-13
申请号：US12320289
申请日：2009-01-22
Applicant: Woo-yeon Jeong , Su-Jin Lee
Inventor： Woo-yeon Jeong , Su-Jin Lee
IPC: G06F17/00
CPC classification number: G05D1/0274 , G05D1/0246 , G05D1/027 , G05D1/0272 , G06K9/00691 , G06K9/00805 , G09B29/003
Abstract: Localization and map building apparatus and method applicable to a mobile robot are provided. In an exemplary embodiment, a map building apparatus extracts a pattern of landmarks of the same kind and adjusts a landmark map using the extracted pattern when generating the landmark map for localization. Accordingly, since the landmark map is adjusted based on the pattern extracted on the basis of location information of each landmark, accuracy of localization and map building of the mobile robot can be improved.
Abstract translation: 提供了适用于移动机器人的本地化和地图制作装置和方法。 在示例性实施例中，地图制作设备提取相同类型的地标图案，并且在生成用于定位的地标地图时，使用所提取的图案来调整地标地图。 因此，由于基于根据每个地标的位置信息提取的图案调整地标地图，因此可以提高移动机器人的定位精度和地图构建。
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公开(公告)号：US08379966B2
公开(公告)日：2013-02-19
申请号：US12218058
申请日：2008-07-11
Applicant: Woo-yeon Jeong , Jun-ho Park , Seok-won Bang
Inventor： Woo-yeon Jeong , Jun-ho Park , Seok-won Bang
CPC classification number: G06K9/00664 , G05D1/0246 , G06K9/2027 , G06T1/0007
Abstract: Provided is an apparatus for recognizing the position of a mobile robot. The apparatus includes an image capturing unit which is loaded into a mobile robot and captures an image; an illuminance determining unit which determines illuminance at a position where an image is to be captured; a light-emitting unit which emits light toward the position; a light-emitting control unit which controls the light-emitting unit according to the determined illuminance; a driving control unit which controls the speed of the mobile robot according to the determined illuminance; and a position recognizing unit which recognizes the position of the mobile robot by comparing a pre-stored image to the captured image.
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