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：US08027515B2

公开(公告)日：2011-09-27

申请号：US12089563

申请日：2005-12-14

申请人： Jae Yeong Lee ,  Heesung Chae ,  Won Pil Yu ,  Young Jo Cho

发明人： Jae Yeong Lee ,  Heesung Chae ,  Won Pil Yu ,  Young Jo Cho

IPC分类号： G06K9/00

CPC分类号： G01S5/16 ,  G01S1/70 ,  G05D1/0246

摘要： Provided is a system and method for providing location information of robot in real time using an artificial mark. The system includes: an image processing module for obtaining an image signal by photographing artificial marks installed at a predetermined space with a space coordinate and detecting an image coordinate of artificial mark from the obtaining the image signal; a location calculating module for calculating a current location by comparing the image coordinate of detected artificial mark and a pre-stored space coordinate of artificial mark; and an artificial mark identifying module for updating current location information by selectively using one of an artificial mark tracing process and an image coordinate estimating process.

摘要翻译： 提供了一种使用人造标记实时提供机器人位置信息的系统和方法。 该系统包括：图像处理模块，用于通过拍摄安装在具有空间坐标的预定空间的人造标记来获得图像信号，并从获得图像信号中检测人造标记的图像坐标; 位置计算模块，用于通过比较检测到的人造标记的图像坐标和人造标记的预先存储的空间坐标来计算当前位置; 以及人造标记识别模块，用于通过选择性地使用人造标记跟踪处理和图像坐标估计处理之一来更新当前位置信息。

公开(公告)号：US20110010083A1

公开(公告)日：2011-01-13

申请号：US12667407

申请日：2007-12-17

申请人： Jae-Yeong Lee ,  Won Pil Yu

发明人： Jae-Yeong Lee ,  Won Pil Yu

IPC分类号： G01C21/00

CPC分类号： G05D1/0274

摘要： A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, is provided. The path search method includes: generating a block map having a plurality of blocks by merging a specific number of cells in the grid map; obtaining a block path by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path.

摘要翻译： 提供了具有多个具有相同大小的单元的网格图中的移动对象的路径搜索方法。 路径搜索方法包括：通过合并网格图中的特定数量的单元来生成具有多个块的块映射; 通过在块图中找到从起始位置到目的地位置的路径来获得块路径; 以及通过对块路径上的块中的小区执行基于小区的路径搜索来获得移动对象的最终路径。

公开(公告)号：US20080310682A1

公开(公告)日：2008-12-18

申请号：US12089563

申请日：2005-12-14

申请人： Jae Yeong Lee ,  Heesung Chae ,  Won Pil Yu ,  Young Jo Cho

发明人： Jae Yeong Lee ,  Heesung Chae ,  Won Pil Yu ,  Young Jo Cho

IPC分类号： G06K9/00

CPC分类号： G01S5/16 ,  G01S1/70 ,  G05D1/0246

摘要： Provided is a system and method for providing location information of robot in real time using an artificial mark. The system includes: an image processing module for obtaining an image signal by photographing artificial marks installed at a predetermined space with a space coordinate and detecting an image coordinate of artificial mark from the obtaining the image signal; a location calculating module for calculating a current location by comparing the image coordinate of detected artificial mark and a pre-stored space coordinate of artificial mark; and an artificial mark identifying module for updating current location information by selectively using one of an artificial mark tracing process and an image coordinate estimating process.

摘要翻译： 提供了一种使用人造标记实时提供机器人位置信息的系统和方法。 该系统包括：图像处理模块，用于通过拍摄安装在具有空间坐标的预定空间的人造标记来获得图像信号，并从获得图像信号中检测人造标记的图像坐标; 位置计算模块，用于通过比较检测到的人造标记的图像坐标和人造标记的预先存储的空间坐标来计算当前位置; 以及人造标记识别模块，用于通过选择性地使用人造标记跟踪处理和图像坐标估计处理之一来更新当前位置信息。

公开(公告)号：US08296064B2

公开(公告)日：2012-10-23

申请号：US12667407

申请日：2007-12-17

申请人： Jae-Yeong Lee ,  Won Pil Yu

发明人： Jae-Yeong Lee ,  Won Pil Yu

IPC分类号： G01C21/00

CPC分类号： G05D1/0274

摘要： A path search method of a mobile object in a grid map having a plurality of cells, each having an identical size, is provided. The path search method includes: generating a block map having a plurality of blocks by merging a specific number of cells in the grid map; obtaining a block path by finding a path from a starting position to a destination position in the block map; and obtaining a final path of the mobile object by performing a cell-based path search on cells in the blocks on the block path.

摘要翻译： 提供了具有多个具有相同大小的单元的网格图中的移动对象的路径搜索方法。 路径搜索方法包括：通过合并网格图中的特定数量的单元来生成具有多个块的块映射; 通过在块图中找到从起始位置到目的地位置的路径来获得块路径; 以及通过对块路径上的块中的小区执行基于小区的路径搜索来获得移动对象的最终路径。

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：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：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：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。