公开(公告)号：US20120163662A1

公开(公告)日：2012-06-28

申请号：US13335871

申请日：2011-12-22

申请人： Yu Cheol LEE ,  Jae Yeong LEE ,  Won Pil YU

发明人： Yu Cheol LEE ,  Jae Yeong LEE ,  Won Pil YU

IPC分类号： G06K9/00

CPC分类号： G05D1/0278 ,  G05D1/0274 ,  G05D2201/0213 ,  G06K9/00651 ,  G06K9/00697 ,  G09B29/10

摘要： The method for building an outdoor map for a moving object according to an exemplary embodiment of the present invention includes: receiving a real satellite image for an outdoor space to which the moving object is to move; calculating pixel information including sizes of length and width pixels and a physical distance of one pixel in the real satellite image; measuring a reference position coordinate for a reference position selected from the real satellite image; and linking a pixel number corresponding to the reference position, the reference position coordinate, and the pixel information to the real satellite image in order to build the outdoor map for the moving object, and further includes creating information on a road network in which the moving object navigates based on the pixel number corresponding to the reference position, the reference position coordinate, and the pixel information.

摘要翻译： 根据本发明的示例性实施例的用于构建移动物体的户外地图的方法包括：接收移动物体要移动的室外空间的真实卫星图像; 计算包括实际卫星图像中的一个像素的长度和宽度像素的尺寸和物理距离的像素信息; 测量从真实卫星图像中选择的参考位置的参考位置坐标; 以及将与基准位置相对应的像素数，参考位置坐标和像素信息链接到真实卫星图像，以构建移动物体的室外地图，并且还包括在其中移动的道路网络上创建信息 基于对应于参考位置，参考位置坐标和像素信息的像素数，物体导航。

公开(公告)号：US09310807B2

公开(公告)日：2016-04-12

申请号：US12692113

申请日：2010-01-22

申请人： Yu-Cheol Lee ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

发明人： Yu-Cheol Lee ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

IPC分类号： G01C21/32 ,  G01S3/78 ,  G05D1/02 ,  B25J5/00

CPC分类号： G05D1/0274 ,  G01C21/32 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0272 ,  G05D2201/0203

摘要： A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

摘要翻译： 创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息预测移动单元的位置，获取从移动单元到 使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与 测量距离，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

公开(公告)号：US09098088B2

公开(公告)日：2015-08-04

申请号：US13335871

申请日：2011-12-22

申请人： Yu Cheol Lee ,  Jae Yeong Lee ,  Won Pil Yu

发明人： Yu Cheol Lee ,  Jae Yeong Lee ,  Won Pil Yu

IPC分类号： G06K9/00 ,  G05D1/02 ,  G09B29/10

CPC分类号： G05D1/0278 ,  G05D1/0274 ,  G05D2201/0213 ,  G06K9/00651 ,  G06K9/00697 ,  G09B29/10

摘要： The method for building an outdoor map for a moving object according to an exemplary embodiment of the present invention includes: receiving a real satellite image for an outdoor space to which the moving object is to move; calculating pixel information including sizes of length and width pixels and a physical distance of one pixel in the real satellite image; measuring a reference position coordinate for a reference position selected from the real satellite image; and linking a pixel number corresponding to the reference position, the reference position coordinate, and the pixel information to the real satellite image in order to build the outdoor map for the moving object, and further includes creating information on a road network in which the moving object navigates based on the pixel number corresponding to the reference position, the reference position coordinate, and the pixel information.

摘要翻译： 根据本发明的示例性实施例的用于构建移动物体的户外地图的方法包括：接收移动物体要移动的室外空间的真实卫星图像; 计算包括实际卫星图像中的一个像素的长度和宽度像素的尺寸和物理距离的像素信息; 测量从真实卫星图像中选择的参考位置的参考位置坐标; 以及将与基准位置相对应的像素数，参考位置坐标和像素信息链接到真实卫星图像，以构建移动物体的室外地图，并且还包括在其中移动的道路网络上创建信息 基于对应于参考位置，参考位置坐标和像素信息的像素数，物体导航。

公开(公告)号：US20100121488A1

公开(公告)日：2010-05-13

申请号：US12692113

申请日：2010-01-22

申请人： Yu-Cheol LEE ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

发明人： Yu-Cheol LEE ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

IPC分类号： G06F19/00

CPC分类号： G05D1/0274 ,  G01C21/32 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0272 ,  G05D2201/0203

摘要： A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

摘要翻译： 创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息预测移动单元的位置，获取从移动单元到 使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与 测量距离，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

公开(公告)号：US20090031823A1

公开(公告)日：2009-02-05

申请号：US11989609

申请日：2006-07-28

申请人： Nakju Doh ,  Won Pil Yu ,  Sang Ik Na ,  Yu-Cheol Lee ,  Hyo-Sung Ahn

发明人： Nakju Doh ,  Won Pil Yu ,  Sang Ik Na ,  Yu-Cheol Lee ,  Hyo-Sung Ahn

IPC分类号： G01L5/04

CPC分类号： A63H11/00 ,  A63H17/36 ,  A63H2200/00 ,  G01B21/32

摘要： Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector. When the connector such as a cable is pulled, the detecting apparatus detects information about the pulling conditions of the cable. Therefore, when a user walks with a dog robot by holding the cable of the detecting apparatus attached to the dog robot, the detecting apparatus provides information about the cable-holding conditions to inform the dog robot of user's intention, so that the dog robot can follow the user according to the user's intention. Thus, automatically-movable devices such as the dog robot can be conveniently used by employing the detecting apparatus since the detecting apparatus provides information about user's intention to the devices.

摘要翻译： 提供一种用于检测连接器的张力，移动方向和长度的装置。 检测装置包括连接器，其包括连接在运动检测装置内的一端和设置在运动检测装置的外侧的另一端;张力检测器，通过检测施加到连接器的参数的微小变化来测量施加到连接器的张力 当连接器的另一端从运动检测装置被拉开时的张力检测器;方向检测器，测量连接器在基本上垂直于张力的平面中的水平和垂直方向上的运动，以便检测拉力的方向 并且长度检测器通过施加到连接器的张力来检测从运动检测装置延伸的连接器的长度。 当拉出诸如电缆的连接器时，检测装置检测关于电缆的拉动状况的信息。 因此，当用户通过握住安装在狗机器人上的检测装置的电缆来行走狗机器人时，检测装置提供关于电缆保持条件的信息以通知狗机器人的用户意图，使得狗机器人 按照用户的意图跟随用户。 因此，由于检测装置向装置提供关于用户的意图的信息，所以可以通过采用检测装置方便地使用诸如狗机器人的自动移动装置。

公开(公告)号：US20110098923A1

公开(公告)日：2011-04-28

申请号：US12912199

申请日：2010-10-26

申请人： Yu-Cheol LEE

发明人： Yu-Cheol LEE

IPC分类号： G01C21/00 ,  G06F17/00

CPC分类号： G01C15/00 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  G05D2201/0216

摘要： A method of creating a map of artificial marks includes acquiring a position in which a moving object is moved, detecting each of the artificial marks to obtain an image thereof, calculating a relative position of the detected artificial mark, calculating a position of the detected artificial mark in a global coordinate system using the relative position, and storing the calculated position and an ID of the detected artificial mark in a map database to create the map of the artificial marks. Further, a method of measuring a position of a moving object includes detecting an artificial mark within a search range calculating a relative position of the detected artificial mark, and calculating a position of the moving object using the calculated relative position and a position in a global coordinate system corresponding to the relative position of the detected artificial mark from the map database.

摘要翻译： 一种创建人造标记的地图的方法包括获取移动物体移动的位置，检测每个人造标记以获得其图像，计算检测到的人造标记的相对位置，计算检测到的人造标记的位置 使用相对位置在全局坐标系中标记，并将计算出的位置和检测到的人造标记的ID存储在地图数据库中，以创建人造标记的地图。 此外，测量移动物体的位置的方法包括在计算检测到的人造标记的相对位置的搜索范围内检测人造标记，以及使用所计算的相对位置和全局中的位置来计算移动物体的位置 对应于来自地图数据库的检测到的人造标记的相对位置的坐标系。

公开(公告)号：US20100049366A1

公开(公告)日：2010-02-25

申请号：US12518245

申请日：2007-11-30

申请人： Yu Cheol Lee ,  Won Pil Yu ,  Sang Ik Na ,  Hyo Sung Ahn

发明人： Yu Cheol Lee ,  Won Pil Yu ,  Sang Ik Na ,  Hyo Sung Ahn

IPC分类号： G06F19/00

CPC分类号： G05D1/0274 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0207

摘要： A method of responding to environmental change to build an environment map of a mobile apparatus and an apparatus thereof are disclosed. The apparatus includes a traveling unit traveling a mobile apparatus according to a command, a distance measuring unit measuring a distance from the mobile apparatus to a moving object, an environment map-generating unit generating an environment map based on a measured distance, a moving object detecting unit detecting the moving object moved after generating the environment map by comparing a distance from the mobile apparatus to the moving object with the newly measured distance, and a controlling unit updating the environment map according to the command by selectively applying changed environment information containing the moving object to the built environment map when the moving object is detected. Thus, the changed environmental information can be rapidly and precisely applied to build the environment map.

摘要翻译： 公开了一种应对环境变化以构建移动装置的环境地图及其装置的方法。 该装置包括根据命令行进移动装置的移动单元，测量从移动装置到移动物体的距离的距离测量单元，基于测量距离生成环境地图的环境地图生成单元，移动物体 检测单元，通过利用新测量的距离比较从移动设备到移动物体的距离来检测在产生环境地图之后移动的移动物体;以及控制单元，通过选择性地应用改变的环境信息来选择性地应用包含 当检测到移动物体时将物体移动到建筑物环境地图。 因此，可以快速，准确地应用改变的环境信息来构建环境图。

公开(公告)号：US07681464B2

公开(公告)日：2010-03-23

申请号：US11989609

申请日：2006-07-28

申请人： Nakju Doh ,  Won Pil Yu ,  Sang Ik Na ,  Yu-Cheol Lee ,  Hyo-Sung Ahn

发明人： Nakju Doh ,  Won Pil Yu ,  Sang Ik Na ,  Yu-Cheol Lee ,  Hyo-Sung Ahn

IPC分类号： G01L1/26

CPC分类号： A63H11/00 ,  A63H17/36 ,  A63H2200/00 ,  G01B21/32

摘要： Provided is an apparatus for detecting the tension, moving direction, and length of a connector. The detecting apparatus includes a connector including one end connected inside the movement detecting apparatus and other end disposed at an outer side of the movement detecting apparatus, a tension detector measuring a tension force applied to the connector by detecting a minute change in a parameter of the tension detector when the other end of the connector is pulled away from the movement detecting apparatus, a direction detector measuring a movement of the connector in horizontal and vertical directions in a plane substantially perpendicular to the tension so as to detect a direction of the tension force applied to the connector, and a length detector detecting a length of the connector extended from the movement detecting apparatus by the tension force applied to the connector. When the connector such as a cable is pulled, the detecting apparatus detects information about the pulling conditions of the cable. Therefore, when a user walks with a dog robot by holding the cable of the detecting apparatus attached to the dog robot, the detecting apparatus provides information about the cable-holding conditions to inform the dog robot of user's intention, so that the dog robot can follow the user according to the user's intention. Thus, automatically-movable devices such as the dog robot can be conveniently used by employing the detecting apparatus since the detecting apparatus provides information about user's intention to the devices.

摘要翻译： 提供一种用于检测连接器的张力，移动方向和长度的装置。 检测装置包括连接器，其包括连接在运动检测装置内的一端和设置在运动检测装置的外侧的另一端;张力检测器，通过检测施加到连接器的参数的微小变化来测量施加到连接器的张力 当连接器的另一端从运动检测装置被拉开时的张力检测器;方向检测器，测量连接器在基本上垂直于张力的平面中的水平和垂直方向上的运动，以便检测拉力的方向 并且长度检测器通过施加到连接器的张力来检测从运动检测装置延伸的连接器的长度。 当拉出诸如电缆的连接器时，检测装置检测关于电缆的拉动状况的信息。 因此，当用户通过握住安装在狗机器人上的检测装置的电缆来行走狗机器人时，检测装置提供关于电缆保持条件的信息以通知狗机器人的用户意图，使得狗机器人 按照用户的意图跟随用户。 因此，由于检测装置向装置提供关于用户的意图的信息，所以可以通过采用检测装置方便地使用诸如狗机器人的自动移动装置。

公开(公告)号：US20100036556A1

公开(公告)日：2010-02-11

申请号：US12443381

申请日：2007-01-23

申请人： Sang-Ik Na ,  Won-PII Yu ,  Yu-Cheol Lee ,  Nak-Ju Do

发明人： Sang-Ik Na ,  Won-PII Yu ,  Yu-Cheol Lee ,  Nak-Ju Do

IPC分类号： G05D1/00 ,  B25J9/10 ,  B25J5/00

CPC分类号： G05D1/0227 ,  G05D1/0238 ,  G05D2201/0206

摘要： Provided are an autonomous mobile robot capable of detouring an obstacle, and a method thereof. The autonomous mobile robot includes a moving object; an extension unit connected to the moving object and extending in proportion to a pulling force of the moving object; a drive unit moving the autonomous mobile robot toward the moving object corresponding to the pulling force of the object connected to the extension unit; a route information obtaining unit obtaining route information according to an extension length to which the extension unit extends corresponding to the pulling force of the moving object; an obstacle detecting unit detecting presence of an obstacle placed within a predetermined distance in a moving direction of the autonomous mobile robot that is being led by the moving object; and a control unit controlling the drive unit such that the autonomous mobile robot moves along a route based on the route information. Accordingly, collision between the obstacle and the autonomous mobile robot can be prevented, and the autonomous mobile robot can naturally detour the obstacle.

摘要翻译： 提供一种能够迂回障碍物的自主移动机器人及其方法。 自主移动机器人包括移动物体; 连接到移动物体并与移动物体的拉力成比例地延伸的延伸单元; 驱动单元，使所述自主移动机器人朝向与所述延伸单元连接的物体的拉力对应的移动物体移动; 路线信息获取单元根据与移动物体的拉力相对应的扩展单元延伸的延伸长度来获取路线信息; 障碍物检测单元，检测由移动物体引导的自主移动机器人的移动方向上放置在预定距离内的障碍物的存在; 以及控制单元，其控制所述驱动单元，使得所述自主移动机器人基于所述路线信息沿着路线移动。 因此，可以防止障碍物与自主移动机器人之间的碰撞，自主移动机器人自然地绕行障碍物。