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公开(公告)号：US09561593B2
公开(公告)日：2017-02-07
申请号：US13940186
申请日：2013-07-11
Inventor： Kye Kyung Kim , Sang Seung Kang , Jae Yeon Lee , Joong Bae Kim , Jae Hong Kim , Jong Hyun Park
CPC classification number: B25J9/1697 , G05B2219/40053 , G05B2219/45063
Abstract: Disclosed is a working method using a sensor, which increases recognition of a component to increase mounting of a component and enhancing productivity. The working method includes: extracting an object to be picked from a pile of objects using the sensor; picking the extracted object to move the picked object to a predetermined place; and estimating an angle of the moved object in the current position using the sensor. Accordingly, the working method can perform precise component recognition and posture estimation by two steps: a component picking step and a component recognition step, and effectively apply to a manufacturing line, thereby improving mounting of a component and enhancing productivity of a product.
Abstract translation: 公开了一种使用传感器的工作方法，其增加了部件的识别以增加部件的安装并提高生产率。 该工作方法包括：使用传感器从一堆物体中提取要拾取的物体; 拾取提取的物体将拾取的物体移动到预定的位置; 以及使用所述传感器估计当前位置中的被移动物体的角度。 因此，工作方法可以通过以下两个步骤执行精确的部件识别和姿势估计：部件拾取步骤和部件识别步骤，并且有效地应用于生产线，从而改进部件的安装并提高产品的生产率。
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公开(公告)号：US09201425B2
公开(公告)日：2015-12-01
申请号：US14021983
申请日：2013-09-09
Inventor： Young Woo Yoon , Do Hyung Kim , Woo Han Yun , Ho Sub Yoon , Jae Yeon Lee , Jae Hong Kim , Jong Hyun Park
CPC classification number: G05D1/0231 , G05D1/0248 , G06K9/00342 , G06T7/20 , G06T2207/10024 , G06T2207/10028 , G06T2207/30196
Abstract: Provided are a human-tracking method and a robot apparatus. The human-tracking method includes receiving an image frame including a color image and a depth image, determining whether user tracking was successful in a previous image frame, and determining a location of a user and a goal position to which a robot apparatus is to move based on the color image and the depth image in the image frame, when user tracking was successful in the previous frame. Accordingly, a current location of the user can be predicted from the depth image, user tracking can be quickly performed, and the user can be re-detected and tracked using user information acquired in user tracking when detection of the user fails due to obstacles or the like.
Abstract translation: 提供了人类跟踪方法和机器人装置。 人体跟踪方法包括接收包括彩色图像和深度图像的图像帧，确定用户跟踪在先前图像帧中是否成功，以及确定用户的位置和机器人装置要移动的目标位置 基于图像帧中的彩色图像和深度图像，当用户跟踪在前一帧中成功时。 因此，可以从深度图像预测用户的当前位置，可以快速执行用户跟踪，并且可以使用用户跟踪中获取的用户信息来重新检测和跟踪用户，当用户的检测由于障碍物或者 类似。
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3.发明授权公开(公告)号：US09576363B2
公开(公告)日：2017-02-21
申请号：US14621329
申请日：2015-02-12
Inventor： Kye Kyung Kim , Sang Seung Kang , Jae Yeon Lee , Jae Hong Kim , Joong Bae Kim , Jong Hyun Park
CPC classification number: G06T7/75 , G06K9/3241 , G06K2209/19 , G06T2207/30164
Abstract: The present invention relates to a device and a method of detecting arbitrarily piled objects, and a device and a method for picking a detected object. The present invention may provide a device and a method of detecting an object, which extract a unique local characterized part of the object by using a visual sensor, detect an object region, and estimate a posture from the detected object region. Also the present invention may provide an object picking system capable of being applied to an actual production process, such as assembling or packaging, in a cell producing method.
Abstract translation: 本发明涉及一种检测任意堆积的物体的装置和方法，以及用于拾取被检测物体的装置和方法。 本发明可以提供一种检测物体的装置和方法，其通过使用视觉传感器，检测对象区域以及从检测到的对象区域估计姿势来提取对象的唯一的局部特征化部分。 此外，本发明还可以提供一种能够应用于细胞生产方法中的实际生产过程，例如组装或包装的物体拾取系统。
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4.发明授权Apparatus and method for providing activity recognition based application service 有权用于提供基于活动识别的应用服务的装置和方法公开(公告)号：US09183431B2
公开(公告)日：2015-11-10
申请号：US14162177
申请日：2014-01-23
Inventor： Do-Hyung Kim , Jae Hong Kim , Kye Kyung Kim , Youngwoo Yoon , Woo han Yun , Ho sub Yoon , Jae Yeon Lee , Suyoung Chi , Young-Jo Cho , Kyu-Dae Ban , Jong-Hyun Park
CPC classification number: G06K9/00342 , G06K9/6269 , G06K2009/4666
Abstract: An apparatus includes an image receiving module configured to collect a depth image provided from a camera, a human body detection module configured to detect a human body from the collected depth image, and an activity recognition module configured to recognize an action of the human body on the basis of a 3-dimensional action volume extracted from the human body and a previously learned action model.
Abstract translation: 一种装置，包括图像接收模块，被配置为收集从相机提供的深度图像，人体检测模块，被配置为从所收集的深度图像中检测人体;以及活动识别模块，被配置为识别人体的动作 从人体提取的三维动作体的基础和先前学习的动作模型。
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