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    • 2. 发明授权
    • Apparatus and method for correcting bias of gyroscope mounted on mobile robot
    • 用于校正安装在移动机器人上的陀螺仪偏差的装置和方法
    • US07840369B2
    • 2010-11-23
    • US11822405
    • 2007-07-05
    • Hyoung-ki LeeKi-wan ChoiDong-yoon KimSeok-won Bang
    • Hyoung-ki LeeKi-wan ChoiDong-yoon KimSeok-won Bang
    • G01C19/54
    • G01C19/42Y10T74/1229
    • An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.
    • 一种校正安装在移动机器人上并测量移动机器人的角速度的陀螺仪的偏置的装置。 该装置包括:分别测量移动机器人的相应的至少一个车轮的行进速度的至少一个编码器; 建模单元,通过使用测量的行进速度来计算移动机器人的角速度; 偏置推定单元通过使用所计算的角速度和所测量的角速度之间的差值来确定置信区间,并且通过使用所述差值之中的置信区间中的值来计算推定的偏差; 以及偏置去除单元,从所测量的角速度除去所述推定的偏压。
    • 7. 发明授权
    • Apparatus and method for recognizing spatial writing and recording medium storing the method
    • 用于识别存储该方法的空间写入和记录介质的装置和方法
    • US07742628B2
    • 2010-06-22
    • US11354853
    • 2006-02-16
    • Won-chul BangDong-yoon KimJong-koo OhSung-jung ChoJoon-kee ChoEun-seok Choi
    • Won-chul BangDong-yoon KimJong-koo OhSung-jung ChoJoon-kee ChoEun-seok Choi
    • G06K9/00
    • G06K9/224G06K9/00355
    • An apparatus and method for increasing the rate of recognition of spatial writing, the apparatus including an inertia sensor module, a storage module, an operation module, and a recognition module. The inertia sensor module measures acceleration of a spatial writing device. The storage module stores predetermined operation information and parameters for tracing the motion trajectory of spatial writing, and pattern information about the motion trajectory. The operation module calculates a velocity of the spatial writing from the acceleration measured using the operation information and parameters, corrects the calculated motion velocity by limiting positional relationships between predetermined points which correspond to the motion trajectory of the spatial writing, and traces the motion trajectory using the corrected motion velocity. The recognition module recognizes the spatial writing by comparing the motion trajectory of spatial writing traced by the operation module with pattern information about motion trajectories stored in the storage module.
    • 一种用于提高空间写入识别率的装置和方法,该装置包括惯性传感器模块,存储模块,操作模块和识别模块。 惯性传感器模块测量空间写入装置的加速度。 存储模块存储用于跟踪空间写入的运动轨迹的预定操作信息和参数,以及关于运动轨迹的模式信息。 操作模块根据使用操作信息和参数测量的加速度来计算空间写入的速度,通过限制与空间写入的运动轨迹相对应的预定点之间的位置关系来校正所计算的运动速度,并使用 校正的运动速度。 识别模块通过将由操作模块跟踪的空间写入的运动轨迹与存储在存储模块中的运动轨迹的模式信息进行比较来识别空间写入。
    • 8. 发明授权
    • Audio generating method and apparatus based on motion
    • 基于运动的音频产生方法和装置
    • US07474197B2
    • 2009-01-06
    • US11043186
    • 2005-01-27
    • Eun-seok ChoiDong-yoon KimJong-koo OhWon-chul BangJoon-kee ChoSung-jung ChoWook ChangKyoung-ho Kang
    • Eun-seok ChoiDong-yoon KimJong-koo OhWon-chul BangJoon-kee ChoSung-jung ChoWook ChangKyoung-ho Kang
    • G08B3/10
    • G10H1/0008G10H2220/395G10H2220/401
    • An audio generating apparatus includes: a sensor which senses a motion of a predetermined apparatus and generates a sensor signal corresponding to the sensed motion; a motion pattern recognizer which recognizes a motion pattern of the predetermined apparatus based on the sensor signal; and an audio signal generator which generates an audio signal corresponding to the motion pattern. The motion pattern recognizer includes: an analog-to-digital converter which converts the sensor signal into a digital sensor signal; and a motion pattern analyzer which analyzes the motion pattern of the predetermined apparatus based on the digital sensor signal. The audio signal generator includes: a storage medium which stores the motion pattern of the predetermined apparatus and audio signal data corresponding to the motion pattern; and a signal generator which extracts the audio signal data from the storage medium to generate the audio signal.
    • 音频产生装置包括:传感器,其感测预定装置的运动并产生对应于感测到的运动的传感器信号; 运动模式识别器,其基于所述传感器信号识别所述预定装置的运动模式; 以及音频信号发生器,其产生对应于运动模式的音频信号。 运动图案识别器包括:将该传感器信号转换为数字传感器信号的模数转换器; 以及基于数字传感器信号分析预定装置的运动模式的运动模式分析器。 音频信号发生器包括:存储介质,存储预定设备的运动模式和对应于运动模式的音频信号数据; 以及信号发生器,其从存储介质提取音频信号数据以产生音频信号。