公开(公告)号：US20070119635A1

公开(公告)日：2007-05-31

申请号：US11601706

申请日：2006-11-20

申请人： Youn-baek Lee ,  Soo-sang Yang ,  Yong-jae Kim ,  Yeon-taek Oh ,  Jeong-hun Kim

发明人： Youn-baek Lee ,  Soo-sang Yang ,  Yong-jae Kim ,  Yeon-taek Oh ,  Jeong-hun Kim

IPC分类号： B62D61/10

CPC分类号： B25J5/007 ,  B62D61/12

摘要： A traveling robot includes a main body frame having a front wheel supported in a front portion thereof in a traveling direction, a first traveling part having a first driving wheel to drive in the traveling direction, a first rear wheel disposed in a rear side of the first driving wheel, and a first wheel frame to support the first driving wheel and the first rear wheel, a second traveling part having a second driving wheel to drive in the traveling direction independently from the first driving wheel, a second rear wheel disposed in a rear side of the second driving wheel, and a second wheel frame to support the second driving wheel and the second rear wheel, a first interlocking hinge part to rotatably support the first wheel frame to the main body frame to have a hinge axis of a perpendicular direction with respect to the traveling direction, and a second interlocking hinge part to rotatably support the second wheel frame to the main body frame independently from the first interlocking hinge part to have a hinge axis of the same direction as the first interlocking hinge part.

摘要翻译： 一种旅行机器人包括主体框架，其主体框架具有沿行进方向被支撑在其前部的前轮，第一行进部件具有沿行进方向驱动的第一驱动轮，设置在行进方向的后侧的第一后轮 第一驱动轮和支撑第一驱动轮和第一后轮的第一车轮框架，具有独立于第一驱动轮而沿行进方向驱动的第二驱动轮的第二行驶部件，设置在第一驱动轮中的第二后轮 第二驱动轮的后侧以及支撑第二驱动轮和第二后轮的第二轮框架，第一互锁铰链部分，用于将第一轮框架可旋转地支撑到主体框架以具有垂直的铰链轴线 相对于行进方向的方向，以及第二互锁铰链部分，其独立于第一互锁部分可旋转地将第二轮框架支撑到主体框架 铰链部分具有与第一互锁铰链部分相同方向的铰链轴线。

公开(公告)号：US07673710B2

公开(公告)日：2010-03-09

申请号：US11563861

申请日：2006-11-28

申请人： Youn-baek Lee ,  Soo-sang Yang ,  Yeon-taek Oh

发明人： Youn-baek Lee ,  Soo-sang Yang ,  Yeon-taek Oh

IPC分类号： B62D61/12

CPC分类号： B25J5/007 ,  B62D61/12

摘要： A traveling robot includes a body frame having a front wheel; a rear wheel which is disposed on a rear side of the front wheel along a traveling direction; a rear frame which supports the rear wheel and is supported by the body frame so as to move vertically; a driving wheel which is disposed between the front wheel and the rear wheel in the traveling direction; a driving frame which supports the driving wheel and is coupled to the body frame by a hinge whose axis is parallel to an axis of the driving wheel; and a linkage member which is coupled to the driving frame to be contacted with or separated from the rear frame as the driving frame is rotated relative to the body frame.

摘要翻译： 行走机器人包括具有前轮的主体框架; 后轮，其沿行进方向设置在所述前轮的后侧; 后框架，其支撑后轮并且由所述主体框架支撑以便垂直移动; 驱动轮，其沿行进方向设置在前轮和后轮之间; 驱动框架，其支撑所述驱动轮并且通过其轴线平行于所述驱动轮的轴线的铰链联接到所述主体框架; 以及当所述驱动框架相对于所述主体框架旋转时，所述联动构件联接到所述驱动框架以与所述后框架接触或分离。

公开(公告)号：US07721829B2

公开(公告)日：2010-05-25

申请号：US11601706

申请日：2006-11-20

申请人： Youn-baek Lee ,  Soo-sang Yang ,  Yong-jae Kim ,  Yeon-taek Oh ,  Jeong-hun Kim

发明人： Youn-baek Lee ,  Soo-sang Yang ,  Yong-jae Kim ,  Yeon-taek Oh ,  Jeong-hun Kim

IPC分类号： B62D11/02

CPC分类号： B25J5/007 ,  B62D61/12

摘要： A traveling robot includes a main body frame having a front wheel supported in a front portion thereof in a traveling direction, a first traveling part having a first driving wheel to drive in the traveling direction, a first rear wheel disposed in a rear side of the first driving wheel, and a first wheel frame to support the first driving wheel and the first rear wheel, a second traveling part having a second driving wheel to drive in the traveling direction independently from the first driving wheel, a second rear wheel disposed in a rear side of the second driving wheel, and a second wheel frame to support the second driving wheel and the second rear wheel, a first interlocking hinge part to rotatably support the first wheel frame to the main body frame to have a hinge axis of a perpendicular direction with respect to the traveling direction, and a second interlocking hinge part to rotatably support the second wheel frame to the main body frame independently from the first interlocking hinge part to have a hinge axis of the same direction as the first interlocking hinge part.

摘要翻译： 一种旅行机器人包括主体框架，其主体框架具有沿行进方向被支撑在其前部的前轮，第一行进部件具有沿行进方向驱动的第一驱动轮，设置在行进方向的后侧的第一后轮 第一驱动轮和支撑第一驱动轮和第一后轮的第一车轮框架，具有独立于第一驱动轮而沿行进方向驱动的第二驱动轮的第二行驶部件，设置在第一驱动轮中的第二后轮 第二驱动轮的后侧以及支撑第二驱动轮和第二后轮的第二轮框架，第一互锁铰链部分，用于将第一轮框架可旋转地支撑到主体框架以具有垂直的铰链轴线 相对于行进方向的方向，以及第二互锁铰链部分，其独立于第一互锁部分可旋转地将第二轮框架支撑到主体框架 铰链部分具有与第一互锁铰链部分相同方向的铰链轴线。

公开(公告)号：US20060136097A1

公开(公告)日：2006-06-22

申请号：US11294497

申请日：2005-12-06

申请人： Yong-jae Kim ,  Min-jung Kim ,  Yeon-taek Oh ,  Youn-Baek Lee ,  Jun-pyo Hong

发明人： Yong-jae Kim ,  Min-jung Kim ,  Yeon-taek Oh ,  Youn-Baek Lee ,  Jun-pyo Hong

IPC分类号： G06F19/00

CPC分类号： G05D1/0234 ,  G05D1/0255 ,  G05D2201/0203

摘要： A robot system includes a position information emitting unit including a light emitter to emit a light including phase information and a supersonic wave emitter to emit a supersonic wave, and a robot including a light receiver to receive the light, a supersonic wave receiver to receive the supersonic wave, and a position determining part to determine a relative position of the robot with respect to the position information emitting unit based on the phase information of the light received through the light receiver and the supersonic wave received through the supersonic wave receiver. Thus the robot system can precisely determine the position of the robot regardless of external environments, and reduce cost of a configuration of the system.

摘要翻译： 机器人系统包括：位置信息发射单元，包括发射包括相位信息的光的发光器和用于发射超声波的超声波发射器;以及包括用于接收光的光接收器的机器人;超声波接收器，用于接收 超声波和位置确定部分，用于基于通过光接收器接收的光的相位信息和通过超声波接收器接收的超声波来确定机器人相对于位置信息发射单元的相对位置。 因此，无论外部环境如何，机器人系统都可以精确地确定机器人的位置，并降低系统配置的成本。

公开(公告)号：US20070137905A1

公开(公告)日：2007-06-21

申请号：US11563861

申请日：2006-11-28

申请人： Youn-baek LEE ,  Soon-sang Yang ,  Yeon-taek Oh

发明人： Youn-baek LEE ,  Soon-sang Yang ,  Yeon-taek Oh

IPC分类号： B62D61/00

CPC分类号： B25J5/007 ,  B62D61/12

摘要： A traveling robot includes a body frame having a front wheel; a rear wheel which is disposed on a rear side of the front wheel along a traveling direction; a rear frame which supports the rear wheel and is supported by the body frame so as to move vertically; a driving wheel which is disposed between the front wheel and the rear wheel in the traveling direction; a driving frame which supports the driving wheel and is coupled to the body frame by a hinge whose axis is parallel to an axis of the driving wheel; and a linkage member which is coupled to the driving frame to be contacted with or separated from the rear frame as the driving frame is rotated relative to the body frame.

摘要翻译： 行走机器人包括具有前轮的主体框架; 后轮，其沿行进方向设置在所述前轮的后侧; 后框架，其支撑后轮并且由所述主体框架支撑以便垂直移动; 驱动轮，其沿行进方向设置在前轮和后轮之间; 驱动框架，其支撑所述驱动轮并且通过其轴线平行于所述驱动轮的轴线的铰链联接到所述主体框架; 以及当所述驱动框架相对于所述主体框架旋转时，所述联动构件联接到所述驱动框架以与所述后框架接触或分离。

公开(公告)号：US07099743B2

公开(公告)日：2006-08-29

申请号：US10643898

申请日：2003-08-20

申请人： Yong-kwun Lee ,  Yeon-taek Oh ,  Soo-sang Yang ,  Ja-woo Lee

发明人： Yong-kwun Lee ,  Yeon-taek Oh ,  Soo-sang Yang ,  Ja-woo Lee

IPC分类号： G06F19/00

CPC分类号： B25J9/1065 ,  B62D57/032

摘要： A two-legged walking robot includes a pair of foot members a calf member provided above each foot member, a double-axis ankle joint provided between the foot member and the calf member to allow the foot member to rotate relative to the calf member in forward and backward directions and in right and left directions. The robot also includes a femoral member provided above each calf member, a single-axis knee joint provided between the calf member and the femoral member, a hip member provided above the femoral member, and a double-axis hip joint provided between the femoral member and the hip member to allow the femoral member to rotate relative to the hip member in the forward, backward, right, and left directions. Thus, the two-legged walking robot operates similar to a human ankle, knee and hip.

摘要翻译： 双腿行走机器人包括一对脚部构件，设置在每个脚构件上方的小腿构件，设置在脚构件和小腿构件之间的双轴踝关节，以允许脚构件相对于小腿构件向前旋转 向后方向，左右方向。 机器人还包括设置在每个小腿构件上方的股骨构件，设置在小腿构件和股骨构件之间的单轴膝关节，设置在股骨构件上方的髋部构件和设置在股骨构件之间的双轴髋关节 以及髋部构件，以允许股骨构件相对于臀部构件在向前，向后，向右和向左方向上旋转。 因此，双腿步行机器人的操作类似于人类脚踝，膝盖和髋部。

公开(公告)号：US20050027399A1

公开(公告)日：2005-02-03

申请号：US10820037

申请日：2004-04-08

申请人： Won-jun Koh ,  Ki-cheol Park ,  Yeon-taek Oh ,  Yong-jae Kim

发明人： Won-jun Koh ,  Ki-cheol Park ,  Yeon-taek Oh ,  Yong-jae Kim

IPC分类号： A47L9/28 ,  B25J5/00 ,  B25J9/10 ,  B25J9/22 ,  B25J13/08 ,  G05B19/42 ,  G05D1/02 ,  G05D23/02 ,  G06F19/00

CPC分类号： G05D1/0221 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L2201/04 ,  G05D1/0016 ,  G05D1/0033 ,  G05D2201/0215

摘要： A robot system includes a mobile robot with a driving part to move. The robot system includes a light commander to emit light and give a command corresponding to a reflecting position at which the light is reflected. The robot system also includes a position detector to receive information on the reflecting position as an image, and to detect the reflecting position, and a controller to determine a reflecting trace based on the reflecting position detected by the position detector, and to output the reflecting trace to the driving part to control the driving part. Thus, the robot system and a control method thereof, has reduced costs, and is easy and safely operated, and immediate operation teaching is possible without a compensating process.

摘要翻译： 机器人系统包括具有驱动部件移动的移动机器人。 机器人系统包括发光指示器，并给出对应于光被反射的反射位置的命令。 机器人系统还包括位置检测器，用于接收作为图像的反射位置的信息并检测反射位置，以及控制器，基于由位置检测器检测到的反射位置来确定反射迹线，并输出反射 跟踪驱动部分来控制驱动部分。 因此，机器人系统及其控制方法降低成本，并且易于安全地操作，并且可以在没有补偿过程的情况下立即进行操作教导。

公开(公告)号：US07606416B2

公开(公告)日：2009-10-20

申请号：US10989401

申请日：2004-11-17

申请人： Woo-Sup Han ,  Kyung-shik Roh ,  Woong Kwon ,  Young-bo Shim ,  Yeon-taek Oh ,  Ki-cheol Park

发明人： Woo-Sup Han ,  Kyung-shik Roh ,  Woong Kwon ,  Young-bo Shim ,  Yeon-taek Oh ,  Ki-cheol Park

IPC分类号： G06K9/34

CPC分类号： G06K9/00664 ,  G05D1/0246 ,  G05D2201/0207 ,  G06K9/4652 ,  G06K9/4671 ,  G06K9/6212

摘要： A landmark detection apparatus and method, the apparatus including a first detection unit that generates N first sample blocks in a first sampling region using a first weighted sampling method according to a first degree of dispersion, and that performs a first landmark detection by comparing a feature of each first sample block a feature of a landmark model, where the first sample region is set to the entirety of a current frame image; and a second detection unit that generates N second sample blocks in a second sampling region using a second weighted sampling method according to a second degree of dispersion, and that performs a second landmark detection by comparing a feature of each second sample block the feature of the landmark model, where the second sampling region is set to an area less than the entirety of the current frame image.

摘要翻译： 一种地标检测装置和方法，所述装置包括：第一检测单元，其使用第一分散度的第一加权采样方法在第一采样区域中生成N个第一采样块，并且通过比较特征 每个第一采样块的地标模型的特征，其中第一采样区域被设置为当前帧图像的整体; 以及第二检测单元，其使用根据第二分散度的第二加权采样方法在第二采样区域中生成N个第二采样块，并且通过将每个第二采样块的特征进行比较来执行第二地标检测， 其中第二采样区域被设置为小于当前帧图像的整体的区域。

公开(公告)号：US20050033474A1

公开(公告)日：2005-02-10

申请号：US10809351

申请日：2004-03-26

申请人： Yong-jae Kim ,  Ki-cheol Park ,  Won-jun Koh ,  Yeon-taek Oh

发明人： Yong-jae Kim ,  Ki-cheol Park ,  Won-jun Koh ,  Yeon-taek Oh

IPC分类号： B25J13/08 ,  B25J9/10 ,  G01S1/70 ,  G01S5/16 ,  G05D1/02 ,  G06F19/00

CPC分类号： G01S1/70 ,  G01S5/16 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0272

摘要： A robot system including a beacon provided with a transmitting part to transmit a light for location determination, and a mobile robot provided with a receiving part to receive the light. The robot system further includes a rotation driving part to rotate the transmitting part about a predetermined axis; an encoder to add phase information regarding how much the transmitting part is rotated by the rotation driving part with respect to a reference direction to the light; and a location determiner to determine a location of the mobile robot based on the phase information of the light received by the receiving part. Accordingly, a robot system is provided, which can precisely determine a location of a mobile robot regardless of external environmental conditions, distance, and reduction of cost by using a few transmitters.

摘要翻译： 一种机器人系统，包括设置有用于发送用于位置确定的光的发送部的信标，以及设置有用于接收光的接收部的移动机器人。 所述机器人系统还包括旋转驱动部，以使所述发送部绕预定轴线旋转; 编码器，用于相对于所述光的参考方向，通过所述旋转驱动部来增加所述发送部旋转多少的相位信息; 以及基于由接收部接收的光的相位信息来确定移动机器人的位置的位置确定器。 因此，提供了一种机器人系统，其可以通过使用几个发射器来精确地确定移动机器人的位置，而不管外部环境条件，距离和成本的降低。

公开(公告)号：US08229619B2

公开(公告)日：2012-07-24

申请号：US12208096

申请日：2008-09-10

申请人： Kyung-shik Roh ,  Woo-sup Han ,  Woong Kwon ,  Young-bo Shim ,  Yeon-taek Oh ,  Ki-cheol Park

发明人： Kyung-shik Roh ,  Woo-sup Han ,  Woong Kwon ,  Young-bo Shim ,  Yeon-taek Oh ,  Ki-cheol Park

IPC分类号： G01C22/00 ,  G05D1/00

CPC分类号： G05D1/0234

摘要： A method of controlling an intelligent system using an artificial mark and method for employing the same. The intelligent system includes: an image pickup unit which obtains an image taken for a driving place; a main control unit which calculates a projective invariant of an artificial mark detected from an image taken for a driving place and analyzes the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; and a driving control unit which controls driving of the intelligent system according to the position information of the intelligent system analyzed in the main control unit.

摘要翻译： 一种使用人造标记来控制智能系统的方法及其应用方法。 智能系统包括：摄像单元，获取驾驶场所拍摄的图像; 主控制单元，其计算从驾驶场所拍摄的图像中检测出的人造标记的投影不变性，并使用由所计算的投影不变量获得的驾驶地点中的检测到的人造标记的全球位置信息来分析智能系统的位置;以及 智能系统和检测到的人造标记之间的位置信息; 以及驱动控制单元，其根据在主控制单元中分析的智能系统的位置信息来控制智能系统的驱动。