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    CAMERA-BASED INDOOR POSITION RECOGNITION APPARATUS AND METHOD
    194.
    发明申请
    CAMERA-BASED INDOOR POSITION RECOGNITION APPARATUS AND METHOD 有权
    基于摄像机的室内位置识别装置和方法

    公开(公告)号：US20120158282A1

    公开(公告)日：2012-06-21

    申请号：US13326302

    申请日：2011-12-14

    Applicant: Nam-Shik PARK

    Inventor： Nam-Shik PARK

    IPC: G01C21/00

    CPC classification number: G05D1/0274 ,  G05D1/028 ,  G05D2201/0203

    Abstract: A camera-based indoor position recognition apparatus includes: a floor capturing unit capturing a floor image by controlling a camera installed on a ceiling of an indoor space; a grid map generator constructing a grid map including cell images and position values by dividing the captured floor image into cells of a predetermined size and assigning the position values to the cells; a transceiver performing a data communication with a robot in the indoor space; and a controller providing an identifier-registration and a current position-information to the robot in accordance with an identifier-registration-requesting message and a position-information-requesting message of the robot, wherein the identifier-registration-requesting message and the position-information-requesting message of the robot are delivered from the transceiver.

    Abstract translation: 基于摄像机的室内位置识别装置包括：地板拍摄单元，其通过控制安装在室内空间的天花板上的相机来拍摄地板图像; 网格图生成器，通过将拍摄的平面图像划分为预定尺寸的单元格并且将位置值分配给单元格来构造包括单元图像和位置值的网格图; 与所述室内空间中的机器人执行数据通信的收发机; 以及根据所述机器人的标识符登记请求消息和位置信息请求消息向所述机器人提供标识符登记和当前位置信息的控制器，其中，所述标识符注册请求消息和所述位置 从收发机传送机器人的信息请求消息。

    APPARATUS AND METHOD WITH MOBILE RELOCATION
    195.
    发明申请
    APPARATUS AND METHOD WITH MOBILE RELOCATION 有权
    装置和方法与移动移动

    公开(公告)号：US20120109420A1

    公开(公告)日：2012-05-03

    申请号：US13285395

    申请日：2011-10-31

    Applicant: Hyoung-Ki Lee ,  Jong-Dae Jung

    Inventor： Hyoung-Ki Lee ,  Jong-Dae Jung

    IPC: G05D1/00

    CPC classification number: G05D1/0261 ,  G05D1/0234 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0203

    Abstract: An apparatus and method relocating a robot. The apparatus may include a particle generating unit, a first distance obtaining unit, a second distance obtaining unit, and a position estimating unit. A plurality of particles may be generated on a map, a first distance may be obtained according to respective distances between each particle of the plurality of particles and a wireless communication apparatus, based on a position of the wireless communication apparatus and respective positions of each particle on the map, a second distance may be obtained according to respective determined distances between the wireless communication apparatus and the robot, based on a strength measure of the electromagnetic signal received by the robot from the wireless communication apparatus or based on an arrival time or time of flight of the electromagnetic signal, and a position of the robot may be estimated by comparing the first distance and the second distance.

    Abstract translation: 一种重新定位机器人的装置和方法。 该装置可以包括粒子生成单元，第一距离获取单元，第二距离获取单元和位置估计单元。 可以在地图上生成多个粒子，可以根据无线通信装置的位置和各个粒子的各个位置，根据多个粒子的每个粒子和无线通信装置之间的相应距离获得第一距离 在地图上，可以根据机器人从无线通信装置接收的电磁信号的强度测量值，或者基于到达时间或时间，根据无线通信装置和机器人之间的各自确定的距离获得第二距离 可以通过比较第一距离和第二距离来估计机器人的位置。

    AUTOMATIC VEERING STRUCTURE FOR FLOOR CLEANING APPARATUS
    196.
    发明申请
    AUTOMATIC VEERING STRUCTURE FOR FLOOR CLEANING APPARATUS 有权
    自动清洗装置结构

    公开(公告)号：US20120065830A1

    公开(公告)日：2012-03-15

    申请号：US12881716

    申请日：2010-09-14

    Applicant: Joseph Y. KO

    Inventor： Joseph Y. KO

    IPC: G05D1/00

    CPC classification number: G05D1/0227 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L2201/04 ,  G05D2201/0203

    Abstract: An automatic veering structure for a floor cleaning apparatus comprises a driving wheel set to control moving direction of the floor cleaning apparatus, an auxiliary wheel set and a buffer module. It also has a detection module to detect whether the auxiliary wheel set is suspended in the air and whether the buffer module bumps into an obstacle, then output a first detection signal and a second detection signal to a control module to determine whether to trigger the driving wheel set to drive the floor cleaning apparatus to veer to prevent the floor cleaning apparatus from suspending and falling, or stopping moving when encounters the obstacle. Thus the lifespan of the floor cleaning apparatus is lengthened and cleaning efficiency improves.

    Abstract translation: 用于地板清洁装置的自动转向结构包括：驱动轮组，用于控制地板清洁装置的移动方向，辅助轮组和缓冲模块。 还具有检测模块，用于检测辅助轮组是否悬挂在空中，以及缓冲模块是否碰到障碍物，然后将第一检测信号和第二检测信号输出到控制模块，以确定是否触发驾驶 车轮设置以驱动地板清洁装置转动以防止地板清洁装置悬挂和下落，或在遇到障碍物时停止移动。 因此，地板清洁装置的使用寿命延长，清洗效率提高。

    APPARATUS FOR RECOGNIZING POSITION USING RANGE SIGNALS AND METHOD THEREOF
    197.
    发明申请
    APPARATUS FOR RECOGNIZING POSITION USING RANGE SIGNALS AND METHOD THEREOF 有权
    用于使用范围信号识别位置的装置及其方法

    公开(公告)号：US20110320123A1

    公开(公告)日：2011-12-29

    申请号：US13071852

    申请日：2011-03-25

    Applicant: Hyun-Do CHOI ,  Jun-Ho PARK

    Inventor： Hyun-Do CHOI ,  Jun-Ho PARK

    IPC: G06F17/00

    CPC classification number: G01S13/0209 ,  G01S5/0252 ,  G01S5/0284 ,  G01S19/51 ,  G05D1/028 ,  G05D2201/0203

    Abstract: A position recognizing apparatus and method is provided. The position recognizing apparatus includes a range sensor which senses a distance between the position recognizing apparatus and a range landmark, and a candidate range landmark information generating unit which generates information about candidate range landmarks. The candidate range landmark information is modeled using a position and a posture of the position recognizing apparatus, the sensed distance and an angle between the range landmark and the position recognizing apparatus. The position recognizing apparatus further includes a range landmark extracting unit which, if a new distance is sensed, updates the candidate range landmark information and extracts actual range landmark information from the candidate range landmark information, and a position recognizing unit which recognizes a position of the position recognizing apparatus based on the extracted actual range landmark information.

    Abstract translation: 提供一种位置识别装置和方法。 位置识别装置包括感测位置识别装置与范围界限之间的距离的距离传感器，以及生成关于候选范围地标的信息的候选范围地标信息生成单元。 使用位置识别装置的位置和姿势，感测到的距离以及范围界标和位置识别装置之间的角度来建模候选范围地标信息。 所述位置识别装置还包括距离地标提取单元，如果感测到新的距离，则更新所述候选范围地标信息，并从所述候选范围地标信息中提取实际范围地标信息，以及位置识别单元， 基于所提取的实际范围地标信息的位置识别装置。

    DIRECTION DEVICE AND OPERATION SYSTEM UTILIZING THE SAME
    198.
    发明申请
    DIRECTION DEVICE AND OPERATION SYSTEM UTILIZING THE SAME 有权
    方向设备和操作系统

    公开(公告)号：US20110295447A1

    公开(公告)日：2011-12-01

    申请号：US13044050

    申请日：2011-03-09

    Applicant: Shih-Che HUNG ,  Hong-Lun Liu ,  Yi-Chih Yeh

    Inventor： Shih-Che HUNG ,  Hong-Lun Liu ,  Yi-Chih Yeh

    IPC: G05D1/00

    CPC classification number: A47L9/2805 ,  A47L9/2852 ,  A47L9/2894 ,  A47L2201/00 ,  A47L2201/04 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D2201/0203

    Abstract: A direction device controlling a traveling route of a cleaning robot and including a receiving unit, an emitting unit and a control unit is disclosed. The receiving unit receives an encoded ultrasonic wave emitted by the cleaning robot. The emitting unit emits at least one wireless signal. The control unit activates the emitting unit to emit a first direction wireless signal when the receiving unit receives the encoded ultrasonic wave. The cleaning robot passes according to the first direction wireless signal.

    Abstract translation: 公开了一种控制清洁机器人的行进路线的方向装置，包括接收单元，发射单元和控制单元。 接收单元接收由清洁机器人发射的经编码的超声波。 发射单元发射至少一个无线信号。 当接收单元接收编码的超声波时，控制单元激活发射单元以发出第一方向无线信号。 清洁机器人根据第一方向无线信号通过。

    CONDITION BASED KEEP-OUT FOR MACHINES
    199.
    发明申请
    CONDITION BASED KEEP-OUT FOR MACHINES 审中-公开
    基于条件的机器保持

    公开(公告)号：US20110295423A1

    公开(公告)日：2011-12-01

    申请号：US12789061

    申请日：2010-05-27

    Applicant: Noel Wayne Anderson

    Inventor： Noel Wayne Anderson

    IPC: G05B19/418 ,  G05D1/00

    CPC classification number: G05D1/0088 ,  G05D1/0225 ,  G05D1/0257 ,  G05D1/0265 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208

    Abstract: The different illustrative embodiments provide a system for autonomous machine management comprising a number of autonomous machines, a number of boundaries, a conditional behavior module, and a navigation system. The number of autonomous machines is configured to perform area coverage tasks in a worksite. The number of nodes is configured to define a number of worksite areas for the worksite. The conditional behavior module is executed by a processor unit and configured to determine whether a number of conditions is met for the number of worksite areas. The navigation system is configured to operate an autonomous machine to perform the area coverage tasks and move between the number of worksite areas when the number of conditions is met.

    Abstract translation: 不同的说明性实施例提供了一种用于自主机器管理的系统，其包括多个自主机器，多个边界，条件行为模块和导航系统。 自动机器的数量被配置为在现场执行区域覆盖任务。 节点数量被配置为定义工作现场的一些工作区域。 条件行为模块由处理器单元执行并且被配置为确定对于工作场所区域的数量是否满足多个条件。 导航系统被配置为操作自主机器以执行区域覆盖任务，并且当满足条件数量时在工作区域的数量之间移动。

    Apparatus, method, and medium for localizing moving robot and transmitter
    200.
    发明授权
    Apparatus, method, and medium for localizing moving robot and transmitter 有权
    用于定位移动机器人和发射机的装置，方法和介质

    公开(公告)号：US08060256B2

    公开(公告)日：2011-11-15

    申请号：US11822438

    申请日：2007-07-05

    Applicant: Dong-geon Kong ,  Seok-won Bang ,  Hyeon Myeong

    Inventor： Dong-geon Kong ,  Seok-won Bang ,  Hyeon Myeong

    IPC: G05B15/00 ,  G05B19/00

    CPC classification number: G05D1/0272 ,  G01S5/30 ,  G01S11/16 ,  G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0216

    Abstract: Provided are an apparatus allowing a moving robot to localize a user, or localizing the moving robot from a fixed location, and a method and medium thereof. The apparatus includes a motion controller to control the moving robot such that the sensor passes a plurality of measurement points by rotating the moving robot, a distance measuring unit, which includes the sensor that senses predetermined waves generated from the transmitter, to measure distances between the sensor and the transmitter at the plurality of measurement points, a rotational angle measuring unit to measure rotational angles of the moving robot at the measurement points, and a location calculator to calculate relative locations using input values of the measured distances, the measured rotational angles, and the radius of a circle determined by the sensor resulting from the rotation of the moving robot.

    Abstract translation: 提供了一种允许移动机器人定位用户或将固定位置的移动机器人定位的装置及其方法和介质。 该装置包括运动控制器，用于控制移动机器人，使得传感器通过旋转移动机器人而传递多个测量点，距离测量单元包括感测从发射器产生的预定波的传感器，以测量距离测量单元 传感器和多个测量点处的发射器，用于测量移动机器人在测量点处的旋转角度的旋转角度测量单元，以及位置计算器，使用测量距离的输入值，测量的旋转角度， 以及由移动机器人的旋转产生的由传感器确定的圆的半径。

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