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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。
    • 5. 发明授权
    • Robot and method and medium for localizing the same by using calculated covariance
    • 机器人和方法以及通过使用计算协方差对其进行定位的介质
    • US08315734B2
    • 2012-11-20
    • US11688983
    • 2007-03-21
    • Hyeon MyeongYong-beom LeeSeok-won BangHyoung-ki LeeKi-wan ChoiEun-young Choe
    • Hyeon MyeongYong-beom LeeSeok-won BangHyoung-ki LeeKi-wan ChoiEun-young Choe
    • G06F19/00
    • G05D1/0272G05D1/027
    • Provided are a robot capable of improving the computation rate by considering whether a parameter will diverge and modifying the experiment order of offspring during evolutionary computation, when the covariance of system noise and that of measurement noise are calculated for the purpose of localizing the robot by using a Kalman filter, and a method and medium of localizing a robot by using a calculated covariance. The robot includes a gyroscope module providing information regarding rotational angle; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel by sensing motion of the wheel; and a control module estimating a current location according to a Kalman filter method based on information provided by the encoder module and the gyroscope module, a covariance of system noise and a covariance of measurement noise being calculated in an evolutionary computation and applied to the Kalman filter method by the control module, the covariance of system noise and the covariance of measurement noise satisfying a condition that no Kalman filter parameter diverges in the evolutionary computation.
    • 提供了一种能够通过考虑在进化计算期间参数是否会发散和修改后代的实验次序来提高计算速率的机器人,当系统噪声和测量噪声的协方差被计算用于通过使用 卡尔曼滤波器,以及通过使用计算的协方差来定位机器人的方法和介质。 机器人包括提供关于旋转角度的信息的陀螺仪模块; 编码器模块,通过感测车轮的运动来提供关于车轮旋转角度的速度和信息的信息; 以及基于卡尔曼滤波方法的编码器模块和陀螺仪模块提供的信息来估计当前位置的控制模块,系统噪声的协方差和在进化计算中计算的应用于卡尔曼滤波器的测量噪声的协方差 控制模块的方法,系统噪声的协方差和测量噪声的协方差满足在进化计算中没有卡尔曼滤波参数分歧的条件。
    • 7. 发明授权
    • Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
    • 家用清洁机器人清洁轨迹的生成方法和装置
    • US07860608B2
    • 2010-12-28
    • US10819984
    • 2004-04-08
    • Hyoung-ki LeeSun-gi HongSeok-won BangIl-hwan KimKi-wan Choi
    • Hyoung-ki LeeSun-gi HongSeok-won BangIl-hwan KimKi-wan Choi
    • G06F19/00G05B19/04G05B19/18
    • G05D1/0225A47L2201/02A47L2201/04G05D1/0219G05D1/0255G05D2201/0203G05D2201/0215
    • A method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls until the home cleaning robot arrives at a point where it cannot travel in a direction in which a distance between the docking station and the home cleaning robot increases.
    • 一种产生和追踪家用清洁机器人的清洁轨迹的方法和装置,该方法包括:控制家用清洁机器人从对接站直线行进一定距离,然后旋转地行进,保持与对接站的距离 ,直到家用清洁机器人到达两面墙之一; 如果家用清洁机器人到达墙壁并且在对接站周围继续旋转运行,则控制家用清洁机器人沿着墙壁的设定距离行进多达一点距离,保持对接站和家庭清洁机器人之间的距离增加了设置 距离直到它到达两个墙壁之一; 并且如果家用清洁机器人到达墙壁并且在对接站周围继续旋转移动,则反复地控制家用清洁机器人沿着墙壁的设定距离行进多达一点,保持对接站和家用清洁机器人之间的距离增加 直到到达两个墙壁之一的设定距离,直到家庭清洁机器人到达其不能在对接站和家用清洁机器人之间的距离增加的方向上行进的点时。
    • 8. 发明授权
    • Apparatus and method for detecting blood flow signal free from motion artifact and stress test apparatus using the same
    • 用于检测没有运动假象的血流信号的装置和方法,以及使用其的应力测试装置
    • US07727159B2
    • 2010-06-01
    • US10909305
    • 2004-08-03
    • Ki-wan ChoiHyoung-ki LeeSeok-won Bang
    • Ki-wan ChoiHyoung-ki LeeSeok-won Bang
    • A61B5/02
    • A61B5/02405A61B5/02416A61B5/0261A61B5/7207
    • An apparatus and method to detect a blood flow signal free from a motion artifact, and a stress test apparatus using the same, enhance data reliability of the blood flow signal by removing the motion artifact from the blood flow signal detected by photo-plethysmography. The apparatus to detect the blood flow signal includes a base pattern correlation coefficient calculating unit to determine peak points in the blood flow signal sensed from a body of an examinee using a blood flow sensing unit, and to calculate correlation coefficients of each peak point using a predetermined base pattern, and a motion artifact processing unit to determine the motion artifact using the calculated correlation coefficients and to remove the motion artifact from the blood flow signal. Thus, reliability of the blood flow signal is enhanced by effectively removing the motion artifact from the blood flow signal detected by the photo-plethysmography.
    • 一种用于检测没有运动伪影的血流信号的装置和方法,以及使用其的应力测试装置,通过从通过光体积描记术检测的血流信号中消除运动伪影来增强血流信号的数据可靠性。 用于检测血流信号的装置包括基本图案相关系数计算单元,用于使用血液流量检测单元确定从被检体的身体感测的血流信号中的峰值点,并且使用 预定的基本图案和运动假象处理单元,以使用所计算的相关系数来确定运动伪影,并从血流信号中去除运动伪像。 因此,通过从通过光体积描记术检测的血流信号有效地去除运动伪影,可以提高血流信号的可靠性。