公开(公告)号：US08503760B2

公开(公告)日：2013-08-06

申请号：US12032427

申请日：2008-02-15

申请人： Sukhan Lee ,  Seung-Min Baek ,  Jeihun Lee ,  Jangwon Lee

发明人： Sukhan Lee ,  Seung-Min Baek ,  Jeihun Lee ,  Jangwon Lee

IPC分类号： G06K9/00

CPC分类号： G06K9/00201 ,  G06K9/6292 ,  G06T7/35 ,  G06T7/73 ,  G06T7/77 ,  G06T2207/10028

摘要： Provided are a system and method for real-time object recognition and pose estimation using in-situ monitoring. The method includes the steps of: a) receiving 2D and 3D image information, extracting evidences from the received 2D and 3D image information, recognizing an object by comparing the evidences with model, and expressing locations and poses by probabilistic particles; b) probabilistically fusing various locations and poses and finally determining a location and a pose by filtering inaccurate information; c) generating ROI by receiving 2D and 3D image information and the location and pose from the step b) and collecting and calculating environmental information; d) selecting an evidence or a set of evidences probabilistically by receiving the information from the step c) and proposing a cognitive action of a robot for collecting additional evidence; and e) repeating the steps a) and b) and the steps c) and d) in parallel until a result of object recognition and pose estimation is probabilistically satisfied.

摘要翻译： 提供了使用现场监测的实时对象识别和姿态估计的系统和方法。 该方法包括以下步骤：a）接收2D和3D图像信息，从接收到的2D和3D图像信息中提取证据，通过将证据与模型进行比较来识别对象，并通过概率粒子表示位置和姿态; b）概率地融合各种位置和姿势，并最终通过过滤不准确的信息来确定位置和姿势; c）通过从步骤b）接收2D和3D图像信息以及位置和姿势来生成ROI并收集和计算环境信息; d）通过接收步骤c）中的信息并提出机器人的收集附加证据的认知行动来概率地选择证据或一组证据; 和e）并行地重复步骤a）和b）和步骤c）和d），直到概率地满足对象识别和姿态估计的结果。

公开(公告)号：US07957639B2

公开(公告)日：2011-06-07

申请号：US12032375

申请日：2008-02-15

申请人： Sukhan Lee ,  Moon Wook Ryu ,  Dae Sik Kim

发明人： Sukhan Lee ,  Moon Wook Ryu ,  Dae Sik Kim

IPC分类号： G03B7/00

CPC分类号： G03B7/003 ,  G03B7/00

摘要： Provided are a method and system for determining an optimal exposure of a structured light based 3D camera. The system includes a projecting means for illuminating a predetermined pattern on a target object, an image capturing means for capturing an image of the target object with the pattern projected, and a processing means for reconstructing 3D data for the target object by identifying the pattern of the captured images from the image capturing means. The system automatically determines an optimal exposure of the structured light based 3D camera system through analyzing the captured image of the target object.

摘要翻译： 提供了一种用于确定基于结构光的3D照相机的最佳曝光的方法和系统。 该系统包括用于照射目标对象上的预定图案的投影装置，用于以所投影的图案捕获目标对象的图像的图像捕获装置，以及用于通过识别目标对象的图案来重建目标对象的3D数据的处理装置 来自图像捕捉装置的捕获图像。 该系统通过分析目标对象的捕获图像来自动确定基于结构光的3D相机系统的最佳曝光。

公开(公告)号：US06292304B1

公开(公告)日：2001-09-18

申请号：US09562030

申请日：2000-05-01

申请人： Jideog Kim ,  In Young Lee ,  Sukhan Lee

发明人： Jideog Kim ,  In Young Lee ,  Sukhan Lee

IPC分类号： G02B2730

CPC分类号： G02B27/09

摘要： An apparatus for generating an independent coherent beam array from a single light source, in which individual coherent beams are selectively activated. The independent coherent beam array generating apparatus, which ensures high-efficient independent coherent beams from a single light source, are implemented by using a phase grating and a spacial light modulator. The number of multiple beams to be used as a light source for high-density recording and reading can be adjusted by varying the design of the phase grating. Regardless of the number of light sources required in various applications, once the beam array generating apparatus is adopted to the applications, the desired function of the applications can be implemented at low cost.

摘要翻译： 用于从单个光源产生独立相干光束阵列的装置，其中各个相干光束被选择性地激活。 通过使用相位光栅和空间光调制器来实现确保来自单个光源的高效独立相干光束的独立相干光束阵列发生装置。 可以通过改变相位光栅的设计来调整要用作用于高密度记录和读取的光源的多个光束的数量。 不管在各种应用中所需的光源数量如何，一旦将光束阵列发生装置应用于应用，就可以以低成本实现所需的应用功能。

公开(公告)号：US4893025A

公开(公告)日：1990-01-09

申请号：US292047

申请日：1988-12-30

申请人： Sukhan Lee

发明人： Sukhan Lee

IPC分类号： B25J13/08 ,  G01S7/481 ,  G01S17/02

CPC分类号： B25J13/086 ,  G01S17/026 ,  G01S7/4811

摘要： A distributed proximity sensor system is provided with multiple photosensitive devices and light emitters embedded on the surface of a robot hand or other moving member in a geometric pattern. By distributing sensors and emitters capable of detecting distances and angles to points on the surface of an object from known points in the geometric pattern, information is obtained for achieving noncontacting shape and distance perception, i.e., for automatic determination of the object's shape, direction and distance, as well as the orientation of the object relative to the robot hand or other moving member.

摘要翻译： 分布式接近传感器系统设置有以几何图案嵌入在机器人手或其他移动部件的表面上的多个感光装置和发光体。 通过分布能够从几何图形中的已知点检测物体表面上的点的距离和角度的传感器和发射器，获得用于实现非接触形状和距离感知的信息，即用于自动确定物体的形状，方向和 距离，以及物体相对于机器人手或其他移动构件的朝向。

公开(公告)号：US20110199433A1

公开(公告)日：2011-08-18

申请号：US12713886

申请日：2010-02-26

申请人： Yong Jae Kim ,  Sukhan Lee ,  Hanseo Ko ,  Jaeyong Choi ,  Sang Uk Son ,  Ki Chul An ,  Soo Hong Lee

发明人： Yong Jae Kim ,  Sukhan Lee ,  Hanseo Ko ,  Jaeyong Choi ,  Sang Uk Son ,  Ki Chul An ,  Soo Hong Lee

IPC分类号： B41J2/14 ,  B41J2/06

CPC分类号： B41J2/065 ,  B41J2002/061

摘要： A nozzle and an electrostatic field induction ink-jet nozzle are disclosed. In accordance with an embodiment of the present invention, the nozzle includes a concave part, which is formed along an outer circumference of the nozzle and in which the outer circumference is adjacent to a liquid discharging surface. The discharging nozzle can minimize the overflow and damping by a liquid during a process of discharging the liquid and thus maintain the discharging performance constant despite an extended operation of the nozzle.

摘要翻译： 公开了喷嘴和静电场感应喷墨喷嘴。 根据本发明的实施例，喷嘴包括沿喷嘴的外周形成的凹部，外周与液体排出面相邻。 排出喷嘴可以在排出液体的过程中使液体的溢流和阻尼最小化，并且因此尽管喷嘴的操作得到延长，仍然保持排出性能。

公开(公告)号：US20090185800A1

公开(公告)日：2009-07-23

申请号：US12032375

申请日：2008-02-15

申请人： Sukhan Lee ,  Moon Wook Ryu ,  Dae Sik Kim

发明人： Sukhan Lee ,  Moon Wook Ryu ,  Dae Sik Kim

IPC分类号： G03B7/00

CPC分类号： G03B7/003 ,  G03B7/00

摘要： Provided are a method and system for determining an optimal exposure of a structured light based 3D camera. The system includes a projecting means for illuminating a predetermined pattern on a target object, an image capturing means for capturing an image of the target object with the pattern projected, and a processing means for reconstructing 3D data for the target object by identifying the pattern of the captured images from the image capturing means. The system automatically determines an optimal exposure of the structured light based 3D camera system through analyzing the captured image of the target object.

摘要翻译： 提供了一种用于确定基于结构光的3D照相机的最佳曝光的方法和系统。 该系统包括用于照射目标对象上的预定图案的投影装置，用于以所投影的图案捕获目标对象的图像的图像捕获装置，以及用于通过识别目标对象的图案来重建目标对象的3D数据的处理装置 来自图像捕捉装置的捕获图像。 系统通过分析目标对象的捕获图像自动确定基于结构光的3D相机系统的最佳曝光。

公开(公告)号：US5442563A

公开(公告)日：1995-08-15

申请号：US258908

申请日：1994-06-09

申请人： Sukhan Lee

发明人： Sukhan Lee

IPC分类号： G05B19/418 ,  G06F17/50

CPC分类号： G06F17/50 ,  G05B19/41805 ,  G05B2219/31053 ,  G06F2217/06 ,  Y02P90/04 ,  Y02P90/20

摘要： An assembly planning system that operates based on a recursive decomposition of assembly into subassemblies, and analyzes assembly cost in terms of stability, directionality, and manipulability to guide the generation of preferred assembly plans. The planning in this system incorporates the special processes, such as cleaning, testing, labeling, etc. that must occur during the assembly, and handles nonreversible as well as reversible assembly tasks through backward assembly planning. In order to increase the planning efficiency, the system avoids the analysis of decompositions that do not correspond to feasible assembly tasks. This is achieved by grouping and merging those parts that can not be decomposable at the current stage of backward assembly planning due to the requirement of special processes and the constraint of interconnection feasibility. The invention includes methods of evaluating assembly cost in terms of the number of fixtures (or holding devices) and reorientations required for assembly, through the analysis of stability, directionality, and manipulability. All these factors are used in defining cost and heuristic functions for an AO* search for an optimal plan.

摘要翻译： 一种组装计划系统，其基于将组装递归分解为子组件进行操作，并且在稳定性，方向性和可操作性方面分析组装成本，以指导优选组装计划的生成。 该系统的规划包括组装过程中必须发生的特殊过程，如清洁，测试，标签等，并通过向后组装计划来处理不可逆的以及可逆的组装任务。 为了提高规划效率，系统避免对不符合可行组装任务的分解进行分析。 这是通过对由于特殊过程的要求和互连可行性的限制而在后退组装计划的当前阶段中不可分解的部分进行分组合并而实现的。 本发明包括通过分析稳定性，方向性和可操纵性来评估组装成本方面的装配（或保持装置）的数量和组装所需的重新定向的方法。 所有这些因素用于定义成本和启发式功能，用于AO *搜索最佳计划。

公开(公告)号：US08724121B2

公开(公告)日：2014-05-13

申请号：US13530221

申请日：2012-06-22

申请人： Sukhan Lee ,  Quang Lam Bui

发明人： Sukhan Lee ,  Quang Lam Bui

IPC分类号： G01B11/22

CPC分类号： G01B11/2513 ,  G06T7/521 ,  G06T2207/10152

摘要： A method of decoding hierarchically orthogonal structured light and a 3-D depth measurement system using the same include a step of detecting boundary lines encoded at an identical position between layers and a boundary line inheritance step of converting the detected boundary lines into identical boundary lines. The present invention relates to a method of precisely searching for the boundary line of a pattern of radiated structured light based on the real coordinate system of an image plane, and an object thereof is to search for a boundary line irrespective of the reflection of a surface of an object, clearly classify a true boundary line and a false boundary line in a poor radiance environment, and increase the accuracy of a boundary line placed in another layer through inheritance.

摘要翻译： 解码分层正交结构光的方法和使用其的3-D深度测量系统包括检测在层之间相同位置编码的边界线的步骤和将检测到的边界线转换成相同边界线的边界线继承步骤。 本发明涉及一种基于图像平面的实际坐标系精确搜索辐射结构光图案的边界线的方法，其目的是搜索边界线，而不考虑表面的反射 在不良辐射环境中明确分类真正的边界线和虚假边界线，并通过继承增加放置在另一层中的边界线的精度。

公开(公告)号：US08579411B2

公开(公告)日：2013-11-12

申请号：US12713886

申请日：2010-02-26

申请人： Yong Jae Kim ,  Sukhan Lee ,  Hanseo Ko ,  Sang Uk Son ,  Soo Hong Lee ,  Ki Chul An ,  Jaeyong Choi

发明人： Yong Jae Kim ,  Sukhan Lee ,  Hanseo Ko ,  Sang Uk Son ,  Soo Hong Lee ,  Ki Chul An ,  Jaeyong Choi

IPC分类号： B41J2/14 ,  B41J2/06

CPC分类号： B41J2/065 ,  B41J2002/061

摘要： A nozzle and an electrostatic field induction ink-jet nozzle are disclosed. In accordance with an embodiment of the present invention, the nozzle includes a concave part, which is formed along an outer circumference of the nozzle and in which the outer circumference is adjacent to a liquid discharging surface. The discharging nozzle can minimize the overflow and damping by a liquid during a process of discharging the liquid and thus maintain the discharging performance constant despite an extended operation of the nozzle.

摘要翻译： 公开了喷嘴和静电场感应喷墨喷嘴。 根据本发明的实施例，喷嘴包括沿喷嘴的外周形成的凹部，外周与液体排出面相邻。 排出喷嘴可以在排出液体的过程中使液体的溢流和阻尼最小化，并且因此尽管喷嘴的操作得到延长，仍然保持排出性能。

公开(公告)号：US08186808B2

公开(公告)日：2012-05-29

申请号：US12032498

申请日：2008-02-15

申请人： Sukhan Lee ,  Young Min Kim ,  Sang Uk Son ,  Jae Yong Choi ,  Do Young Byun

发明人： Sukhan Lee ,  Young Min Kim ,  Sang Uk Son ,  Jae Yong Choi ,  Do Young Byun

IPC分类号： B41J2/06

CPC分类号： B41J2/16 ,  B41J2/1628 ,  B41J2/1629 ,  B41J2/1631

摘要： The present invention relates to a droplet jetting apparatus using electrostatic force, a manufacturing method thereof and an ink providing method thereof. The droplet jetting apparatus using electrostatic force includes a lower electrode unit in which a nozzle and a lower electrode positioned in the nozzle equipped in the upper part of a first substrate, and an ink inflow channel equipped in the lower part of the first substrate are integrally formed; an upper electrode unit having an upper electrode formed on the top surface of a second substrate and an ink discharge hole formed by being penetrated to the upper electrode from the bottom surface of the second substrate; and a bonding layer for bonding the lower electrode unit and the upper electrode unit with each other so that the nozzle is vertically aligned with the ink discharge hole. According to this configuration, the ink used in the droplet jetting apparatus is easy to select, the electrostatic force can be efficiently concentrated and manufacturing processes of the droplet jetting apparatus can be simplified.

摘要翻译： 本发明涉及使用静电力的液滴喷射装置及其制造方法和墨水提供方法。 使用静电力的液滴喷射装置包括下部电极单元，其中位于第一基板的上部中的喷嘴中的喷嘴和下部电极以及设置在第一基板的下部的墨水流入通道是一体的 形成 具有形成在第二基板的上表面上的上电极的上电极单元和从第二基板的底面穿入上电极而形成的喷墨孔; 以及用于将下电极单元和上电极单元彼此接合的接合层，使得喷嘴与排墨孔垂直对准。 根据该结构，能够容易地选择在液滴喷射装置中使用的油墨，能够有效地集中静电力，能够简化液滴喷射装置的制造工序。