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    로봇의 주행 제어 방법 및 그 장치
    141.
    发明授权
    로봇의 주행 제어 방법 및 그 장치 有权
    机器人跑步控制的方法和装置

    公开(公告)号：KR101799977B1

    公开(公告)日：2017-11-22

    申请号：KR1020130078895

    申请日：2013-07-05

    Applicant: 한국기술교육대학교 산학협력단

    Inventor： 유원필 ,  최성록 ,  박재현 ,  이지형 ,  한병희 ,  오상훈 ,  유지환

    IPC: A01D34/00 ,  G05D1/02 ,  B25J13/00 ,  G05D1/10

    CPC classification number: A01D34/008 ,  G05D1/0274 ,  G05D2201/0208

    Abstract: 본발명의로봇의주행제어방법은, 제초대상지역의환경정보를획득하여지도정보를구축하는과정과, 상기구축된지도정보에기반하여상기제초대상지역에서제초장비가장착된로봇이이동하기위한 3차원공간경로를생성하는과정과, 제초모드의실행이지령될때 상기로봇을작동시켜상기 3차원공간경로를따라주행시키는과정과, 상기로봇이상기 3차원공간경로를따라주행할때 3차원공간정보의추출을통해로봇주행을위한지면영역과장애물을추출하는과정과, 상기추출된지면영역과장애물에의거하여상기로봇의주행및 제초모드를적응제어하는과정과, 상기제초모드의실행중 상기제초대상지역에대한제초완료가검출될때 상기제초모드를종료하는과정을포함할수 있다.

    Abstract translation: 根据本发明的另一方面，提供了一种用于机器人的行驶控制方法，包括以下步骤：获取除草区域的环境信息以构建地图信息; 生成三维空间路径，当指令除草模式的执行沿着三维空间路径行进时操作机器人，并且当机器人沿着三维空间路径行进时生成三维空间路径， 通过提取空间信息提取用于运行机器人的地面区域和障碍物的步骤，基于提取的地面区域和障碍物适配和控制机器人的行进和除草模式的步骤， 当除草完成时检测到终止除草模式。

    무인 주행 작업 시스템
    143.
    发明公开
    무인 주행 작업 시스템 有权
    无人驾驶的工作系统

    公开(公告)号：KR1020130131237A

    公开(公告)日：2013-12-03

    申请号：KR1020130057114

    申请日：2013-05-21

    Applicant: 혼다 기켄 고교 가부시키가이샤

    Inventor： 야마무라마코토 ,  에구치준이치 ,  니시무라진 ,  가와카미도시아키

    IPC: G05D1/02

    CPC classification number: G05D1/021 ,  A01D34/008 ,  G05D1/0265 ,  G05D1/0276 ,  G05D2201/0208

    Abstract: The present invention relates to an unmanned operating system comprising: a station which has a signal generator for supplying an electric pulse current to an area wire that defines an operating area; and an unmanned work vehicle traveling in the operating area and detecting a magnetic field generated in the area wire. The purpose of the present invention is to provide the unmanned operating system capable of precisely recognizing the operating area even when a plurality of operating areas are adjacent to each other. The unmanned operating system further has a selection mechanism prearranged at the station for outputting one of several possible pulse currents according to the selection of a user. The work vehicle receives a registration of the pulse current generated from the signal generator via the selection mechanism (S108) and recognizes the operating area based on the registered pulse current. [Reference numerals] (AA) Star;(BB) End;(S100) Turn on;(S102) Input a PIN code;(S104) Display "No loop signal" on a display;(S106) Select the type of a region signal on a menu screen;(S108) Set a type 2;(S110) Turn off "No loop signal"

    Abstract translation: 本发明涉及一种无人操作系统，包括：具有信号发生器的站，用于向限定操作区域的区域线提供电脉冲电流; 以及在操作区域行驶的无人工作车辆，并且检测在该区域线中产生的磁场。 本发明的目的是提供即使当多个操作区域彼此相邻时也能够精确地识别操作区域的无人操作系统。 无人驾驶操作系统还具有根据用户选择在车站预先布置的选择机构，用于输出几个可能的脉冲电流中的一个。 工作车辆经由选择机构接收从信号发生器产生的脉冲电流的登记（S108），并且基于登记的脉冲电流来识别操作区域。 （标号）（AA）星号（BB）结束;（S100）开启;（S102）输入PIN码;（S104）在显示器上显示“无环路信号”;（S106）选择区域的类型 （S108）设置类型2;（S110）关闭“无环路信号”

    무인주행 작업차의 제어장치
    144.
    发明公开
    무인주행 작업차의 제어장치 有权
    用于不定期行驶的车辆的控制装置

    公开(公告)号：KR1020130092454A

    公开(公告)日：2013-08-20

    申请号：KR1020130012244

    申请日：2013-02-04

    Applicant: 혼다 기켄 고교 가부시키가이샤

    Inventor： 야마무라마코토 ,  가와카미도시아키 ,  고바야시히로시 ,  기마타류이치

    IPC: G05D1/02

    CPC classification number: G05D1/021 ,  G05D1/0225 ,  G05D1/0265 ,  G05D2201/0208

    Abstract: PURPOSE: A control device for unmanned travelling vehicle is provided to control the unmanned travelling vehicle not to pass through a folding portion of an area wire, thereby suppressing an additional use of a charger or other devices and being operable in a simple configuration. CONSTITUTION: A traveling motor and a working motor are mounted to a vehicle body to be electrified from a battery. When the traveling motor drives the wheel of an unmanned travelling vehicle (10), the unmanned travelling vehicle drives a working machine by the working motor while traveling in a working area (70) defined by an area wire (72). A control unit of the unmanned travelling vehicle detects the magnetic field strength of the area wire in driving the working machine and controls the unmanned travelling vehicle to return to a charger (84) arranged on the area wire in order to charge a battery. The area wire is folded at random locations at a fixed interval to form folded parts (72a). The working area is comprised of a plurality of regions. When the unmanned travelling vehicle travels for work, a traveling controller controls the unmanned travelling vehicle not to pass through the folded parts. [Reference numerals] (AA) Zone 1; (BB) Zone 2

    Abstract translation: 目的：提供一种无人行驶车辆的控制装置，以控制无人行驶车辆不通过区域线的折叠部分，从而抑制充电器或其他装置的额外使用，并且可以以简单的构造操作。 构成：行驶电动机和工作电动机被安装在车身上以从电池充电。 当行驶电动机驱动无人行驶车辆（10）的车轮时，无人行驶车辆在由区域线（72）限定的工作区域（70）中行进时，由工作电动机驱动工作机械。 无人驾驶车辆的控制单元检测驱动作业机械时的区域线的磁场强度，并控制无人驾驶车辆返回到布置在区域线上的充电器（84），以对电池充电。 区域线以固定间隔在随机位置折叠以形成折叠部分（72a）。 工作区域由多个区域组成。 当无人行驶的车辆行驶时，行驶控制器控制无人行驶车辆不通过折叠部分。 （附图标记）（AA）区域1; （BB）区2

    무인주행 작업차의 제어장치
    145.
    发明公开
    무인주행 작업차의 제어장치 有权
    用于不定期行驶的车辆的控制装置

    公开(公告)号：KR1020130092452A

    公开(公告)日：2013-08-20

    申请号：KR1020130012229

    申请日：2013-02-04

    Applicant: 혼다 기켄 고교 가부시키가이샤

    Inventor： 야마무라마코토 ,  가와카미도시아키

    IPC: G05D1/02

    CPC classification number: G05D1/0225 ,  B60L1/003 ,  B60L3/04 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1824 ,  B60L11/1827 ,  B60L11/1861 ,  B60L11/1877 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2210/20 ,  B60L2210/30 ,  B60L2240/12 ,  B60L2240/22 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/461 ,  B60L2240/547 ,  B60L2240/549 ,  B60L2250/16 ,  B60L2260/28 ,  B60L2260/32 ,  G05D1/0265 ,  G05D2201/0208 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7241 ,  Y02T10/725 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/127 ,  Y02T90/14

    Abstract: PURPOSE: A control device for unmanned travelling vehicle is provided to change a trajectory of an area wire in every return to a charger, thereby preventing the formation of rut by the wheel of the unmanned travelling vehicle. CONSTITUTION: A working motor is mounted to a vehicle body to be electrified from a battery. A traveling motor is mounted to the vehicle body. The traveling motor drives wheels to travel an unmanned travelling vehicle in a working area. A working machine is driven by the working motor. A control unit of the unmanned travelling vehicle comprises a self detector, an area wire separation distance detector, and a return traveling trajectory selector. The self detector detects the magnetic field strength of an area wire arranged around the edge of the working area (S24). The area wire separation distance detector detects a distance spaced apart from the area wire. The return traveling trajectory selector selects a different return trajectory whenever the unmanned travelling vehicle returns along any one of a plurality of return traveling trajectories set along the area wire in advance with respect to the detected distance. [Reference numerals] (AA) Start; (S10) Drive straight in a driving mode; (S12) Detect and stop an area wire; (S14) Charging ST entry direction CW; (S16) CW turn; (S18) CCW turn; (S20) Area guide; (S22) Entry direction set change; (S24) Detect the magnetic intensity of an area wire; (S26) Control a driving mode and drive at a set track along an area wire; (S28) Detect a charging ST; (S30) Docking a charging ST; (S32) Mowing; (S34) Degradation of remaining battery power; (S36) Set track 4; (S38) Set track 1; (S40) Set track +1

    Abstract translation: 目的：提供一种用于无人行驶车辆的控制装置，用于将每次返回的区域线的轨迹改变为充电器，从而防止无人驾驶车辆的车轮形成车辙。 构成：工作电机安装在车身上，使其从电池充电。 行驶马达安装在车身上。 行驶马达驱动车轮在工作区域内行驶无人驾驶的车辆。 工作电机由工作电机驱动。 无人驾驶车辆的控制单元包括自检测器，区域线分离距离检测器和返回行驶轨迹选择器。 自检测器检测布置在工作区域边缘周围的区域线的磁场强度（S24）。 区域线分离距离检测器检测与区域线间隔开的距离。 当无人行驶车辆相对于检测到的距离预先沿着区域线设置的多个返回行进轨迹中的任何一个返回时，返回行驶轨迹选择器选择不同的返回轨迹。 （附图标记）（AA）开始; （S10）在驾驶模式下直行驾驶; （S12）检测并停止区域线; （S14）充电ST进入方向CW; （S16）CW转; （S18）CCW转; （S20）区域指南; （S22）进入方向设定变更; （S24）检测区域线的磁强度; （S26）控制驱动模式，沿区域线驱动设定的轨迹; （S28）检测充电ST; （S30）对接充电ST; （S32）割草; （S34）剩余电池电量降级; （S36）设定轨道4; （S38）设定轨迹1; （S40）设置轨道+1

    이미지 도안용 잔디관리장치
    146.
    发明授权
    이미지 도안용 잔디관리장치 有权
    用于绘制图像的LAWN MOWER

    公开(公告)号：KR101188891B1

    公开(公告)日：2012-10-09

    申请号：KR1020100129237

    申请日：2010-12-16

    Applicant: (주)마이크로인피니티

    Inventor： 정학영

    IPC: A01D34/84 ,  A01D43/16 ,  A01D101/00

    CPC classification number: A01D34/008 ,  A01D34/835 ,  G05D2201/0208 ,  Y10S901/01

    Abstract: 이미지 도안용 잔디관리장치가 제공된다. 본 발명에 따른 이미지 도안용 잔디관리장치는 생성하기 위한 이미지를 입력받는 이미지입력부와, 장치 이동 경로 상의 위치정보를 인식하는 위치감지부와, 상기 장치 이동 경로를 따라 잔디를 가공하되 상기 장치 이동 경로 상의 각 지점에서의 복수의 잔디 가공패턴 중 하나에 따라 잔디를 가공하는 잔디가공부와, 상기 이미지입력부로부터 입력된 이미지를 분석하여 잔디식재영역 상에 상기 이미지를 표현하도록 상기 위치감지부에 의해 감지된 위치정보에서의 잔디 가공패턴을 결정하고 이에 따라 상기 장치 이동 경로와 독립적으로 상기 잔디가공부를 제어하는 제어부를 포함한다.

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