公开(公告)号：KR1020130067925A

公开(公告)日：2013-06-25

申请号：KR1020110134975

申请日：2011-12-14

Applicant: 한국전자통신연구원

Inventor： 전서현 ,  조영조 ,  장민수 ,  이대하 ,  김재홍 ,  손주찬

IPC: B25J13/08 ,  G05D1/02

CPC classification number: B25J9/1664 ,  B25J9/1674

Abstract: PURPOSE: A method for exploring areas using mobile robots is provided to prevent the exploring area from overlapping using a plurality of mobile robots. CONSTITUTION: A method for exploring areas using mobile robots comprises: a step of setting a temporary destination in the exploring area(220); a step of transferring to the predetermined destination(230); a step of setting a new temporary destination when arriving in the temporary destination; a step of repeating the second setting step and the transferring step; a step of changing the cell value of a cell in which is explored according to the transfer of the mobile robot(240); and a step of setting the new temporary destination considering the cell value by the mobile robot in the second setting step(260). [Reference numerals] (210) Initialize the cell values of a map; (220) Set a temporary destination; (230) Move; (231) Sensing range includes a predetermined range of cells?; (232) Initialize the cell value of a corresponding cell; (233) Transmit cell information; (240) Reduce(or increase) the cell values of the cells; (250) Arrived?; (260) Set a new temporary destination; (270) Search a target/The target is found?; (AA) Start; (BB,DD,FF) No; (CC,EE,GG) Yes; (HH) End

Abstract translation: 目的：提供使用移动机器人探索区域的方法，以防止探索区域与多个移动机器人重叠。 构成：使用移动机器人探索区域的方法包括：在探索区域（220）中设置临时目的地的步骤; 转移到预定目的地（230）的步骤; 到达临时目的地时设置新的临时目的地的步骤; 重复第二设定步骤和转印步骤的步骤; 根据移动机器人（240）的传送来改变其中探索的小区的小区值的步骤; 以及在第二设定步骤（260）中考虑移动机器人的单元值来设置新的临时目的地的步骤。 （附图标记）（210）初始化地图的单元格值; （220）设置临时目的地; （230）移动; （231）感测范围包括预定范围的单元格; （232）初始化相应单元格的单元格值; （233）发送小区信息; （240）减少（或增加）细胞的细胞值; （250）到达？ （260）设置新的临时目的地; （270）搜索目标/找到目标？ （AA）开始; （BB，DD，FF）否; （CC，EE，GG）是; （HH）结束

公开(公告)号：KR1020130051679A

公开(公告)日：2013-05-21

申请号：KR1020110116968

申请日：2011-11-10

Applicant: 한국전자통신연구원

Inventor： 이창은 ,  조영조 ,  김성훈

IPC: B25J9/16 ,  G05B19/418 ,  H04L12/28 ,  H04W4/00

CPC classification number: H04L41/0853 ,  H04L41/0803 ,  H04L41/12 ,  H04W4/00 ,  H04W4/02

Abstract: PURPOSE: A collective intelligence routing robot and a transfer path control system including the same are provided to widely apply to observe, reconnoiter, extinguish by providing various collective intelligence robot services. CONSTITUTION: A collective intelligence routing robot comprises a wireless communications network to transmit communication between the collective intelligence routing robots transferring under atypical environment inside a cluster in which a plurality of collective intelligence robots comprises. The collective intelligence routing robot selects the position to maintain communication state between the collective intelligence robots for connecting based on network resource information management of the collective intelligence robots. [Reference numerals] (203) Message layer; (211) Topology manager; (212) Position manager; (213) Traffic manager; (214) Resource manager; (215) Network configuration manager; (A,B,C,D) Cluster; (AA) Service; (BB) Communication multimedia; (CC) Remote control/monitoring; (DD) Maintenance; (EE) Duty execution; (FF) Error prediction; (GG) Middleware; (HH) Network; (II) Robot; (JJ,KK) Wireless

Abstract translation: 目的：提供集体智能路由机器人及其传输路径控制系统，广泛应用于通过提供各种集体智能机器人服务来观察，侦察，灭火。 组织：集体智能路由机器人包括无线通信网络，用于在集体智能机器人组成的群集内的非典型环境下传送的集体智能路由机器人之间传送通信。 集体智能路由机器人根据集体智能机器人的网络资源信息管理，选择维持集体智能机器人连接的通信状态。 （附图标记）（203）消息层; （211）拓扑经理; （212）职位经理; （213）交通经理; （214）资源经理; （215）网络配置管理器; （A，B，C，D）簇; （AA）服务; （BB）通讯多媒体; （CC）遥控/监控; （DD）维护; （EE）责任执行; （FF）误差预测; （GG）中间件; （HH）网络; （二）机器人; （JJ，KK）无线

公开(公告)号：KR1020120071738A

公开(公告)日：2012-07-03

申请号：KR1020100133404

申请日：2010-12-23

Applicant: 한국전자통신연구원

Inventor： 장민수 ,  조영조 ,  조현성 ,  박천수 ,  김재홍 ,  손주찬

IPC: B25J13/08 ,  G06T7/00 ,  B25J19/04

CPC classification number: H04N7/188

Abstract: PURPOSE: An environment sensor stabilizing system and a method for operating a moving object corresponding to asymmetric environments are provided to recognize an environment by using a robot and to establish a map when shaking by compensating a sensor output value. CONSTITUTION: An environment sensor stabilizing system for operating a moving object corresponding to asymmetric environments comprises a sensor unit(104), a signal synchronization unit(112), an amplitude extraction unit(114), and an image correction unit(116). The sensor unit detects vibration of a moving object, thereby outputting sensing signals. The signal synchronization part synchronizes signals by mapping captured images of an image photographing module(102) and sensing signals of the sensor unit. The amplitude extraction unit extracts inclination information of the moving object based on the sensing signals of the sensor unit and calculates a visual field and movement distance of the moving object based on the inclination information. The image correction unit generates corrected images by performing a coordination conversion of the captured images by using the visual field and movement distance.

Abstract translation: 目的：提供一种环境传感器稳定系统和用于操作对应于不对称环境的移动物体的方法，以通过使用机器人来识别环境，并通过补偿传感器输出值来振动时建立地图。 构成：用于操作对应不对称环境的运动物体的环境传感器稳定系统包括传感器单元（104），信号同步单元（112），振幅提取单元（114）和图像校正单元（116）。 传感器单元检测移动物体的振动，从而输出感测信号。 信号同步部分通过映射图像拍摄模块（102）的拍摄图像和传感器单元的感测信号来同步信号。 幅度提取单元基于传感器单元的感测信号提取移动物体的倾斜信息，并且基于倾斜信息计算移动物体的视野和移动距离。 图像校正单元通过使用视场和移动距离进行拍摄图像的协调转换来生成校正图像。

公开(公告)号：KR1020120068531A

公开(公告)日：2012-06-27

申请号：KR1020100130194

申请日：2010-12-17

Applicant: 한국전자통신연구원 ,  충남대학교산학협력단

Inventor： 이창은 ,  성태경 ,  김성훈 ,  임현자 ,  조영조

IPC: G05D1/02

CPC classification number: G05D1/0282 ,  G05D1/0278 ,  G05D1/0291 ,  G01S19/11 ,  G01S19/23 ,  G01S19/31 ,  G01S19/42

Abstract: PURPOSE: A seamless location determination system and method are provided to grasp the real-time location of robots through interior and exterior high accuracy determination of a mobile robot. CONSTITUTION: A mobile node group receives GPS information from a GPS satellite. A broadband communications network(30) provides broadband communications environment of the mobile node group. A controlling gear(40) monitors the location of mobile node group through the broadband communications network in real time. The mobile node group comprises a mother node(100) and a child node. A broadband communications interface is loaded in the mother node. The mother node executes broadband communications with the controlling gear. The child node constitutes a cluster of mother node base.

Abstract translation: 目的：提供无缝定位系统和方法，通过内部和外部高精度确定移动机器人来掌握机器人的实时位置。 规定：移动节点组从GPS卫星接收GPS信息。 宽带通信网络（30）提供移动节点组的宽带通信环境。 控制齿轮（40）通过宽带通信网络实时监控移动节点组的位置。 移动节点组包括母节点（100）和子节点。 宽带通信接口加载到母节点。 母节点与控制装置执行宽带通信。 子节点构成母节点群。

公开(公告)号：KR1020120064571A

公开(公告)日：2012-06-19

申请号：KR1020100125854

申请日：2010-12-09

Applicant: 한국전자통신연구원

Inventor： 장은혜 ,  지수영 ,  조영조 ,  김재홍 ,  손주찬

IPC: A61H3/00 ,  A61H1/02

Abstract: PURPOSE: Apparatus and method for controlling waking assist robot is provided to assist the walk of a user by recognizing the walking intention of a user by using electromyography signals. CONSTITUTION: Apparatus for controlling waking assist robot comprises a sensor unit(110), a generating unit(120), and a control unit(130). The sensor unit comprises an electromyography sensor, and an analysis part(112). The electromyography sensor is attached to a human body for obtain signals. The analysis section analyzes signals generated from the sensor unit. The signal generating unit generates a walk intention signal by sensing the contraction change of muscle over specific value through electromyography signal. The control unit set and controls the walking mode of the waking assist robot through the generated signal.

Abstract translation: 目的：提供用于控制唤醒辅助机器人的装置和方法，以通过使用肌电图信号识别用户的行走意图来帮助用户行走。 构成：用于控制唤醒辅助机器人的装置包括传感器单元（110），生成单元（120）和控制单元（130）。 传感器单元包括肌电图传感器和分析部件（112）。 肌电图传感器连接到人体以获得信号。 分析部分分析从传感器单元产生的信号。 信号发生单元通过肌电信号感测特定值的肌肉的收缩变化来生成行走意图信号。 控制单元通过产生的信号设定并控制醒来辅助机器人的行走模式。

公开(公告)号：KR1020110073168A

公开(公告)日：2011-06-29

申请号：KR1020100025356

申请日：2010-03-22

Applicant: 한국전자통신연구원

Inventor： 장은혜 ,  조영조 ,  이재연 ,  지수영 ,  전병태

IPC: A61H3/00 ,  A61H3/02 ,  A61H1/02

CPC classification number: A61H3/008 ,  A61H1/0262 ,  A61H3/0288 ,  A61H2201/5007 ,  A61H2201/5071

Abstract: PURPOSE: A multi-sensor signal data processing system, a walking supporting apparatus comprising the system, and a method for controlling the apparatus are provided to help walking of a user by sensing user's walking intension and walking in real time. CONSTITUTION: A multi-sensor signal data processing system comprises: a wire/wireless communication unit(142) which receives a first sensor signal corresponding to the power applied to the left palm, a second sensor signal corresponding to the power applied to the right palm, a third sensor signal corresponding to the power applied to the left plantar, and a fourth sensor signal corresponding to the power applied to the right plantar; a sensor information processor(146) outputting a walking intention signal if user's walking intention is confirmed; and a controller(148) generating a necessary driving signal.

Abstract translation: 目的：提供一种多传感器信号数据处理系统，包括该系统的步行辅助装置和一种用于控制该装置的方法，以便通过感测用户的行走意图和实时行走来帮助用户行走。 构成：多传感器信号数据处理系统包括：有线/无线通信单元（142），其接收对应于施加到左手掌的电力的第一传感器信号，对应于施加到右手掌的电力的第二传感器信号 对应于施加到左足底的功率的第三传感器信号和对应于施加到右足底的力的第四传感器信号; 如果确认了用户的步行意图，则输出步行意图信号的传感器信息处理器（146） 以及产生必要的驱动信号的控制器（148）。

公开(公告)号：KR101023207B1

公开(公告)日：2011-03-18

申请号：KR1020070089841

申请日：2007-09-05

Applicant: 한국전자통신연구원

Inventor： 박찬규 ,  손주찬 ,  조현규 ,  조영조

IPC: G06T7/00 ,  H04N19/20

CPC classification number: G06T7/174 ,  G06T7/12 ,  G06T7/194 ,  G06T2207/10016

Abstract: 본 발명은 전경 객체 영상과 배경 객체 영상을 분리하여 추출한다는 것으로, 이를 위하여 본 발명은, 차연산 방법, 평균 차감 방법, 확률 통계적 방법 등을 이용하여 입력 영상의 전경 객체와 배경 객체를 분리 추출하는 종래 방법과는 달리, 입력 영상과 그에 대응하는 참조 배경 객체 영상에 대한 경계 정보 및 경계선 정보를 획득한 후에, 이러한 다중 경계선 정보를 이용하여 경계선 차영상을 획득하고, 획득된 경계선 차영상에 대한 문턱치 변환 및 스케일 변환을 통해 입력 영상에서 전경 객체 영상을 분리 추출함으로써, 다중 경계선 정보를 이용하여 입력 영상으로부터 전경 객체 영상을 효과적으로 분리 추출할 수 있는 것이다.
배경 객체(background object) 영상, 전경 객체(foreground object) 영상, 경계선 차영상

Abstract translation: 从视频序列提取前景对象图像的方法包括：通过从视频序列的帧图像中分离背景图像来产生参考背景图像; 产生帧图像和参考背景图像的边缘信息; 使用边缘信息产生边缘差异图像; 以及基于边缘信息使用边缘差图像提取前景对象图像。

公开(公告)号：KR100895296B1

公开(公告)日：2009-05-07

申请号：KR1020070027792

申请日：2007-03-21

Applicant: 한국전자통신연구원

Inventor： 박천수 ,  류정우 ,  손주찬 ,  조영조

IPC: G06F9/06 ,  G06F3/00

Abstract: 본 발명은 이종의 감성 로봇 플랫폼에 적용 가능한 로봇의 감성 표현 방법 및 장치를 제공하기 위한 것이다. 본 발명에 따른 로봇의 감성 표현 방법은 (a) 내부 또는 외부 센서를 통해 정보를 수집하는 단계; (b) 상기 수집된 정보로 감성을 생성하고 행동을 결정하는 단계; (c) 상기 생성된 감성에 따라 감성 표현, 감성 밀도 및 행위 유닛을 결정하는 단계; (d) 상기 감성 표현, 감성 밀도 및 행위 유닛에 의해 감성 표현 명령을 생성하는 단계; (e) 상기 생성된 감성 표현 명령을 해석하는 단계; 및 (f) 로봇의 현재 상태 정보와 상기 생성된 명령에 기초하여 로봇을 제어하는 단계를 포함하는 것을 특징으로 한다.
감성 로봇, 감성 표현, 행위 표현, 감성 표현 명령서, 행위 유닛, 복합 감성

公开(公告)号：KR1020080106830A

公开(公告)日：2008-12-09

申请号：KR1020070102549

申请日：2007-10-11

Applicant: 한국전자통신연구원

Inventor： 하영국 ,  손주찬 ,  김경일 ,  조현성 ,  고영철 ,  조현규 ,  조영조

IPC: H04L12/12 ,  H04L12/16

CPC classification number: G08B21/0446 ,  A61B5/0002 ,  G08B21/0202 ,  H04L12/2827 ,  H04L67/12 ,  H04L67/125 ,  H04L67/18 ,  H04W4/02 ,  H04W48/04 ,  H04W88/04

Abstract: A bio-signal sensing apparatus is provided to offer users a more intellectual and effective remote control service. A bio-signal sensing apparatus comprises the followings: a sensing unit(111) which detects the bodily states or movement of a user, and then generates a bio-signal; a wireless communication unit(112) transmitting the bio-signal; a sensor-net protocol processing portion(113) which processes the protocol for the end-to-end multi-hop communication between the wireless sensor network and the wireless communication unit and a mobility support procedure; a processor portion(114) functioning as a movable wireless sensor node of the wireless sensor network; and a connection unit(125) connecting the sensing unit and processor portion.

Abstract translation: 提供生物信号感测装置，为用户提供更加智能和有效的遥控服务。 生物信号感测装置包括：检测单元（111），其检测用户的身体状态或移动，然后生成生物信号; 发送生物信号的无线通信单元（112）; 处理用于无线传感器网络和无线通信单元之间的端到端多跳通信的协议的传感器网络协议处理部分（113）和移动性支持过程; 处理器部分（114），用作无线传感器网络的可移动无线传感器节点; 以及连接感测单元和处理器部分的连接单元（125）。

公开(公告)号：KR1020080095000A

公开(公告)日：2008-10-28

申请号：KR1020070039206

申请日：2007-04-23

Applicant: 한국전자통신연구원

Inventor： 장민수 ,  손주찬 ,  조영조

IPC: H04B7/26 ,  H04L12/28

CPC classification number: H04L67/306 ,  H04L67/327

Abstract: A mutual corresponding method between user devices in a wired/wireless communication system and a device therefor are provided to perform a service by deciding whether user devices which store preset profiles and corresponding policies correspond to each other, thereby preventing personal privacy from being exposed. A connection/communicator(102) performs wired connection and wireless communication with another corresponding target user devices. A profile and corresponding policy storage(104) stores profile and corresponding policies which become grounds of corresponding decision. A decider(100) determines whether to correspond to another corresponding target user device based on the policies, decides display methods equivalent to the determined results, and delivers the decided results to a display unit(106). The display unit displays the results.

Abstract translation: 提供了有线/无线通信系统中的用户设备及其设备之间的相互对应的方法，以通过确定存储预设配置文件和对应策略的用户设备是否彼此对应，从而防止个人隐私被暴露来执行服务。 连接/通信器（102）与另一个对应的目标用户设备进行有线连接和无线通信。 配置文件和相应的策略存储（104）存储配置文件和相应的策略，成为相应决定的理由。 决定器（100）基于所述策略确定是否对应于另一对应的目标用户设备，决定与所确定的结果相当的显示方法，并将所确定的结果传递给显示单元（106）。 显示单元显示结果。