公开(公告)号：US20210103296A1

公开(公告)日：2021-04-08

申请号：US17061454

申请日：2020-10-01

Applicant: Samsung Electronics Co., Ltd.

Inventor： Minsu LEE ,  Sunggu KWON ,  Woong KWON ,  Sanghyeon KIM ,  Junho PARK ,  Jongbeom HER

IPC: G05D1/10 ,  B64C39/02 ,  B64F1/36 ,  B64D27/24 ,  G08G5/00 ,  G06Q10/08

Abstract: An embodiment disclosed herein relates to an unmanned aerial vehicle for inventory management and a method of operating the same. The unmanned aerial vehicle may include: at least one sensor configured to acquire at least one of inertia information or position information of the unmanned aerial vehicle; a communication unit configured to communicate with a control system; and a processor operably connected to the at least one sensor and the communication unit. The processor may be configured to: receive an inventory survey request from the control system; generate a route information of the unmanned aerial vehicle based on the received request and previously stored spatial information; and perform an inventory survey based on the generated route information.

公开(公告)号：US20140343730A1

公开(公告)日：2014-11-20

申请号：US14153302

申请日：2014-01-13

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ji Young KIM ,  Kwang Kyu LEE ,  Woong KWON ,  Kyung Shik ROH ,  Ju Suk LEE ,  Seung Yong HYUNG

IPC: G05B19/41

CPC classification number: B25J9/1625 ,  G05B2219/40299 ,  Y10S901/16

Abstract: A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.

Abstract translation: 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。

公开(公告)号：US20140316252A1

公开(公告)日：2014-10-23

申请号：US14151268

申请日：2014-01-09

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： No San KWAK ,  Seung Yong HYUNG ,  Woong KWON ,  Suk June YOON

IPC: A61B5/06

CPC classification number: A61B5/064 ,  A61B5/7203 ,  A61B2576/00

Abstract: A marker includes a basal surface, and a plurality of reference lines provided at the basal surface in a longitudinal direction of the basal surface. The reference lines may have different gradients. The marker may be attached to an instrument and a camera may capture an image of the marker. Pose information of the instrument may be estimated based on the captured image.

Abstract translation: 标记物包括基底表面和设置在基底表面的纵向方向上的基底表面处的多个参考线。 参考线可能具有不同的梯度。 标记可以附接到仪器，并且相机可以捕获标记的图像。 可以基于捕获的图像来估计器械的姿势信息。

公开(公告)号：US20140277741A1

公开(公告)日：2014-09-18

申请号：US14217808

申请日：2014-03-18

Applicant: Samsung Electronics Co., Ltd.

Inventor： Woong KWON ,  Bok Man LIM ,  Gurel OGAN

IPC: B25J9/16

CPC classification number: B25J9/1607 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00225 ,  A61B2034/302 ,  A61B2034/742 ,  A61B2090/373 ,  A61B2090/378 ,  B25J9/1689 ,  G05B2219/39079 ,  G05B2219/40182 ,  G05B2219/40333 ,  G05B2219/40336 ,  G05B2219/40338 ,  G05B2219/40352 ,  G05B2219/40371 ,  G05B2219/45117

Abstract: A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy.

Abstract translation: 机器人可以包括：具有冗余的多工具模块，所述多工具模块包括引导管和多个工具，所述多个工具被配置成在与所述引导管相互作用并且从所述引导管延伸的同时进行操作; 和/或控制器，被配置为基于关于任务空间中的多个工具的远端的运动指令信息来生成关于多工具模块在关节空间中的运动的控制信号。 冗余可以反映联合空间中多工具模块的多个自由度大于任务空间的多个自由度。 可以使用冗余来产生控制信号。

公开(公告)号：US20140241577A1

公开(公告)日：2014-08-28

申请号：US14162879

申请日：2014-01-24

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： No San KWAK ,  Seung Yong HYUNG ,  Woong KWON ,  Ji Young KIM ,  Kwang Kyu LEE

IPC: G06K9/00

CPC classification number: G06K9/00624 ,  G06K2209/057 ,  G06T7/277 ,  G06T7/73 ,  G06T2207/10068 ,  G06T2207/30021

Abstract: A method of tracking a moving object includes measuring displacement of an object to be tracked, obtaining a particle of the object to be tracked using the measured displacement, and tracking the object using pose information of the object in an image thereof and the obtained particle. A control apparatus includes an imaging module to perform imaging of an object and generates an image, and a tracking unit to acquire displacement and pose information of the object using the generated image of the object, to set a particle of the object using the acquired displacement of the object, and to track the object using the pose information of the object and the particle.

Abstract translation: 跟踪运动物体的方法包括测量待跟踪对象的位移，使用所测量的位移获得待跟踪对象的粒子，并使用其图像中的对象的姿态信息和所获得的粒子来跟踪对象。 控制装置包括：成像模块，用于对物体进行成像并生成图像;跟踪单元，使用所生成的对象的图像获取位移并构图物体的信息;使用获取的位移来设定物体的粒子; 并且使用对象和粒子的姿势信息来跟踪对象。

公开(公告)号：US20210072770A1

公开(公告)日：2021-03-11

申请号：US17013465

申请日：2020-09-04

Applicant: Samsung Electronics Co., Ltd.

Inventor： Woong KWON ,  Junho PARK ,  Sunggu KWON ,  Jawon SEO ,  Kyungshik ROH ,  Minsu LEE

IPC: G05D1/10 ,  G05D1/00 ,  G05D1/04 ,  G05D1/08 ,  B64C39/02 ,  B64D47/08 ,  G06K7/14

Abstract: A multi-sensor based unmanned aerial vehicle and a method for controlling the same. The unmanned aerial vehicle may include: a sensor part configured to acquire inertia information or position information of the unmanned aerial vehicle; and a controller. The controller is configured to estimate the position of the unmanned aerial vehicle by applying the information acquired by the sensor part to an extended Kalman filter and control movement of the unmanned aerial vehicle, based on the estimated position of the unmanned aerial vehicle. The sensor part includes: an inertia sensor configured to acquire the inertia information of the unmanned aerial vehicle; a tag recognition sensor configured to recognize a tag attached to a rack and acquire absolute position information of the unmanned aerial vehicle; and an image sensor attached to the unmanned aerial vehicle so as to acquire an image of the movement environment of the unmanned aerial vehicle.