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公开(公告)号：KR1020120104042A
公开(公告)日：2012-09-20
申请号：KR1020110022113
申请日：2011-03-11
Applicant: 전자부품연구원
Abstract: PURPOSE: A gondola robot and a position estimation method thereof are provided to prevent the robot from cleaning the place that is already cleaned by the robot. CONSTITUTION: A method for estimating a position of a gondola robot(20) is as follows. A management tool(43) is placed at a constant interval from the outer wall of a building using a light sensor(49). The position of the management tool is calculated using a sensor value measured by the light sensor. The position that the robot body moves to is estimated based on information about the position of the management tool and robot arm.
Abstract translation: 目的：提供吊车机器人及其位置估计方法，以防止机器人清洁机器人已经清洁的地方。 构成：用于估计缆车机器人（20）的位置的方法如下。 使用光传感器（49）从建筑物的外壁以恒定的间隔放置管理工具（43）。 使用由光传感器测量的传感器值来计算管理工具的位置。 基于关于管理工具和机器人臂的位置的信息来估计机器人身体移动的位置。
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公开(公告)号：KR1020120069851A
公开(公告)日：2012-06-29
申请号：KR1020100131169
申请日：2010-12-21
Applicant: 전자부품연구원
Abstract: PURPOSE: A torque sensor for measuring the torque of joints of a manipulator for laparoscopic surgery is provided to precisely perform an operation by measuring an exact external torque value so that torsional strain caused by external torque is not applied to an entire beam. CONSTITUTION: A torque sensor(10) for measuring the torque of joints of a manipulator for laparoscopic surgery comprises first and second ring-shaped frames(11, 12), a pair of beams(13), and a strain gauge(14). A pair of the beams is integrally formed with the first and second frames, and installed facing each other. Each beam comprises first and second horizontal portions(131, 133), and a bent portion(132). The first and second horizontal portions are vertically projected from the first and second frames. The bent portion is bent between the ends of the first and second horizontal portions. The strain gage is attached to the bent portion.
Abstract translation: 目的：提供一种用于测量腹腔镜手术的操纵器的关节扭矩的扭矩传感器，以通过测量精确的外部扭矩值来精确地执行操作，使得由外部扭矩引起的扭转应力不施加到整个梁。 构成：用于测量用于腹腔镜手术的操纵器的关节扭矩的扭矩传感器（10）包括第一和第二环形框架（11,12），一对梁（13）和应变计（14）。 一对梁与第一和第二框架一体地形成，并且彼此面对地安装。 每个梁包括第一和第二水平部分（131,133）和弯曲部分（132）。 第一和第二水平部分从第一和第二框架垂直地突出。 弯曲部分在第一和第二水平部分的端部之间弯曲。 应变计连接到弯曲部分。
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公开(公告)号：KR1020120008840A
公开(公告)日：2012-02-01
申请号：KR1020100070071
申请日：2010-07-20
Applicant: 전자부품연구원
Abstract: PURPOSE: A moveable station for an excavator remote control is provided to enable an operator to control a manless excavator at a remote. CONSTITUTION: A moveable stat on for an excavator remote control comprises a wireless communications module(101), an adjustment device(107), a display(105) and a computer(103). The wireless communications module wirelessly communicates with an excavator(200) under the control of PC. The adjustment device generates the control signal, for adjusting the excavator by the manipulation of a navigator at a remote. The display displays the image transmitted from the excavator and displays the operation state of the excavator. The computer transmits the control signal transmitted from the adjustment device through the wireless communications module in the excavator.
Abstract translation: 目的：提供一种用于挖掘机遥控器的可移动站，使操作员能够在遥控器上控制无人驾驶的挖掘机。 构成：用于挖掘机遥控器的可移动状态包括无线通信模块（101），调整装置（107），显示器（105）和计算机（103）。 无线通信模块在PC的控制下与挖掘机（200）无线通信。 调整装置产生控制信号，用于通过遥控器上的导航器的操纵来调整挖掘机。 显示器显示从挖掘机传送的图像并显示挖掘机的操作状态。 计算机通过挖掘机中的无线通信模块发送从调节装置发送的控制信号。
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公开(公告)号：KR1020110075729A
公开(公告)日：2011-07-06
申请号：KR1020090132255
申请日：2009-12-28
Applicant: 전자부품연구원
IPC: G06K9/00
CPC classification number: G06K9/00261 , G06K9/3233 , G06K9/6226
Abstract: PURPOSE: A heterogeneous sensor fusion based user recognition device and a method thereof are provided to securely recognize a user by using probability distribution and an uncertainty model. CONSTITUTION: A modality sensor(100) senses the modality of a subject to be recognized through the different modality sensors. A recognizing part certifies the subject by comparing the reliability range of an uncertainty model with the sensed modality. The modality sensor comprises two or more among a thermal image camera, a video camera, and a microphone. The uncertainty model senses the modality of the recognizing subject and creates by the probability distribution of the modality.
Abstract translation: 目的：提供基于异质传感器融合的用户识别装置及其方法，通过使用概率分布和不确定性模型来安全地识别用户。 构成：模态传感器（100）感测通过不同模态传感器识别的对象的模态。 识别部分通过将不确定性模型的可靠性范围与感测模态进行比较来证明该主题。 模式传感器包括热像摄像机，摄像机和麦克风中的两个或更多个。 不确定性模型感知识别主体的模态，并通过模态的概率分布来形成。
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公开(公告)号：KR100930626B1
公开(公告)日：2009-12-09
申请号：KR1020070084856
申请日：2007-08-23
Applicant: 전자부품연구원
IPC: G05D1/02
Abstract: 본 발명은 스테레오 카메라를 구비한 로봇의 물체 자세 인식 방법에 관한 것으로서, 인식 대상 물체의 실효성 있는 특징점(Constrained Feature)들로 이루어지는 3차원 점군 데이터(3D Point Cloud)를 획득하여 데이터 베이스에 저장하고, 스테레오 카메라로 상기 인식 대상 물체를 촬영한 영상의 실효성 있는 특징점(Constrained Feature)들로 이루어지는 3차원 점군 데이터를 획득한 후, 두 개의 3차원 점군 데이터를 정합하여 촬영한 인식 대상 물체의 자세를 인식하는 것을 특징으로 한다.
본 발명에 의하면, ICP(Iterative Closest Point) 알고리즘을 사용하여 두 영상을 정합함으로써, 물체를 바라보는 위치에 관계없이 인식이 가능하고 또한 물체가 부분적으로 가려지더라도 정확한 포즈 인식이 가능하며, 동일한 물체에 대한 두 개의 영상에서 동일한 특징을 찾아 정합함으로써, ICP(Iterative Closest Point) 알고리즘 수행시 작업 시간을 줄일 수 있다
물체 인식, 로봇, 스테레오 카메라, ICP 알고리즘, 영상 정합, 포즈Abstract translation: 提供一种包含立体相机的机器人的物体姿态识别方法，以减少3D点云数据，并通过在相同物体的两个图像中搜索相同特征并匹配相同特征来处理ICP算法时减少操作时间。 包括立体相机的机器人的物体姿态识别方法如下。 获取识别对象整体的3D点云数据（3D Point Cloud）并将其存储在数据库（S100）。 3D点云数据是通过使用立体照相机从识别对象拍摄照片之后拍摄的照片的图像获得的（S110）。 用拍摄照片的图像获取3D点群组数据的步骤。 通过使存储在数据库中的对象整体的3D点群组数据与拍摄照片的图像的3D点群组数据匹配来识别拍摄照片的识别对象素材的姿态（S120）。
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Patent Agency Ranking
公开(公告)号：KR100894423B1
公开(公告)日：2009-04-22
申请号：KR1020070120026
申请日：2007-11-23
Applicant: 전자부품연구원
Abstract: A mobile platform is provided to move a device of specific purpose efficiently while preventing the distortion of the wheel axle by lessening the vertical impact acting on the wheel and the circumferential impact on the axle. A mobile platform(100) comprises a base plate(110), a pair of left and right drive wheel modules(140,150) installed on the base plate opposite to each other, a control drive(145) which is mounted on the base plate and controls the left and right drive wheel modules, a drive wheel module buffer(160) buffering the external force acting on the left and right drive wheel modules, a front wheel caster(170) which is pivotally installed in the base plate tip on the center line of the left and right drive wheel modules via a caster supporting plate(171), and a mounting plate(120) which is supported above the top of the base plate with a plurality of profiles(130). The drive wheel module buffer includes a plurality of linear bushes(161) installed on the left and right drive wheel modules, a linear bush shaft(165), and a pressure spring(167) inserted into the linear bush shaft.
Abstract translation: 提供移动平台以有效地移动具有特定目的的装置，同时通过减小作用在车轮上的垂直冲击和对车轴的周向冲击来防止轮轴的变形。 移动平台（100）包括：基板（110），安装在彼此相对的基板上的一对左右驱动轮模块（140,150）;安装在基板上的控制驱动器（145） 控制左右驱动轮模块，缓冲作用在左右驱动轮模块上的外力的驱动轮模块缓冲器（160），前轮脚轮（170），该前轮脚轮可枢转地安装在中心的底板尖端 通过脚轮支撑板（171）的左右驱动轮模块的线路，以及安装板（120），其被支撑在具有多个轮廓（130）的基板的顶部上方。 驱动轮模块缓冲器包括安装在左驱动轮模块和右驱动轮模块上的多个线性衬套（161），线性衬套轴（165）和插入到线性衬套轴中的压力弹簧（167）。
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公开(公告)号：KR100792852B1
公开(公告)日：2008-01-14
申请号：KR1020060104191
申请日：2006-10-25
Applicant: 전자부품연구원
Abstract: A method for extracting a distance of a landmark of a mobile robot is provided to reduce loads of a main processor by avoiding use of an algorithm for processing a signal. A method for extracting a distance of a landmark of a mobile robot, includes a step of calculating the horizontal distance(D1) between the point where the landmark is projected into an image plane of a camera of the mobile robot to the perpendicular bisector of the image plane, a step of moving the robot along a focal axis of the camera from the position to a target point, and photographing the landmark, a step of calculating the horizontal distance(D2) between the point where the landmark photographed at the target point is projected into an image plane of the camera to the perpendicular bisector of the image plane, and a step of calculating the distance(D) between the camera of the robot at the target point to the point where the focal axis of the camera and the plane including the landmark form a perpendicularity by using the distances(D1,D2).
Abstract translation: 提供了一种用于提取移动机器人的地标的距离的方法，以通过避免使用用于处理信号的算法来减少主处理器的负载。 一种用于提取移动机器人的地标的距离的方法包括以下步骤：计算在所述地标被投影到所述移动机器人的照相机的像平面中的点与所述移动机器人的垂直平分线之间的水平距离（D1） 图像平面，使所述机器人沿所述摄像机的焦点从所述位置移动到目标点的步骤，以及拍摄所述地标;步骤，计算在所述目标点拍摄的地标的点之间的水平距离（D2） 被投影到相机的图像平面到图像平面的垂直二等分线，以及计算机器人在目标点处的相机与相机的焦点和相机的点之间的距离（D）的步骤 包括地标的平面通过使用距离（D1，D2）形成垂直度。
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公开(公告)号：KR101875554B1
公开(公告)日：2018-07-09
申请号：KR1020160065035
申请日：2016-05-26
Applicant: 전자부품연구원
Abstract: 본발명은자동으로팔레트를보관하고, 공급할수 있는팔레트공급장치및 이를이용한물류자동화시스템에관한것이다. 본발명에따른팔레트공급장치는물품분류대로부터팔레트를전달받는이동레일부, 이동레일부의상부에구비되며, 이동레일부에안착된팔레트를파지하는그리퍼, 그리퍼의상부에구비되며, 그리퍼를상승또는하강시켜팔레트를보관하는상하이동부, 이동레일부를통해물품분류대로부터팔레트를전달받고, 이동레일부를통해전달받은팔레트를그리퍼를통해파지한상태로상하이동부를통해상승시켜보관하거나, 하강시킨상태에서그리퍼의파지를해제하여물류운송로봇으로공급하도록제어하는공급제어부를포함한다.
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