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公开(公告)号：KR101091723B1
公开(公告)日：2011-12-08
申请号：KR1020110032093
申请日：2011-04-07
Applicant: 국방과학연구소
Abstract: PURPOSE: A system and a method for the integral operation of an unmanned robot are provided to perform an adaptive and effective task by performing collaboration through integration control based on sharing tasks and hierarchical authorization. CONSTITUTION: An RMS(Remote Mission Station)(110) provides the operational aurthorization of an unmanned robot per ROS by allocating unmanned robots(310,320) and tasks to perform per ROS(Remote Operation Station)s(210,220). The ROS selectively operates the allocated unmanned robots and controls the operation about the allocated unmanned robots. A wireless transceiving unit performs as a remote task device, the ROS, and communication between the unmanned robots. The remote task device classifies a function which is controllable to an unshared and shared task. The shared task gives temporary control rights to other ROSs which have not received the operational authorization.
Abstract translation: 目的：提供一种无人机器人整体运行的系统和方法，通过基于共享任务和分级授权的集成控制进行协作，实现自适应和有效的任务。 构成：通过分配无人机器人（310,320）和执行每个ROS（远程操作站）（210,220）的任务，RMS（远程任务站）（110）为每个ROS提供无人机器人的操作设置。 ROS选择性地操作分配的无人机器人并控制关于分配的无人机器人的操作。 无线收发单元作为远程任务设备，ROS以及无人机器人之间的通信。 远程任务设备将可控制的功能分类到非共享和共享任务。 共享任务为尚未收到操作授权的其他ROS提供临时控制权。
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公开(公告)号：KR100933912B1
公开(公告)日：2009-12-28
申请号：KR1020090051953
申请日：2009-06-11
Applicant: 국방과학연구소
Abstract: PURPOSE: A portable robot controller and a robot control system with the same are provided to allow the user to select robot control method suitable for the current peripheral environment. CONSTITUTION: A portable robot controller comprises a mobile terminal(110) which indicates information about images captured by a robot(200) and the operation state of the robot and receives robot control commands, an operation device(120) which receives detailed commands related to the robot control commands and transmits them to the mobile terminal, and a wireless communication device(130) which receives the image information and operation state information from the robot and transmits them to the mobile terminal. The operation device includes a main body of joystick type in which a wireless communication module is installed and a handle is formed in a part, an operation part which is formed on the main body to receive the detailed commands, and a state indicator which is installed on one side of the main body to display the state of the operation device. The operation part includes a switch which is attached to the handle to function like a trigger.
Abstract translation: 目的：提供便携式机器人控制器及其机器人控制系统，以便用户选择适合当前周边环境的机器人控制方法。 构成：便携式机器人控制器包括：移动终端（110），其指示关于由机器人（200）捕获的图像的信息和机器人的操作状态并接收机器人控制命令;操作装置（120），其接收与 机器人控制命令并将其发送到移动终端;以及无线通信设备（130），其从机器人接收图像信息和操作状态信息，并将其发送到移动终端。 操作装置包括：操纵杆型主体，其中安装有无线通信模块并且在一部分中形成手柄;操作部，形成在主体上以接收详细命令;以及状态指示器，其被安装 在主体的一侧显示操作装置的状态。 操作部分包括一个开关，该开关连接到手柄以起到触发作用。
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公开(公告)号：KR101513103B1
公开(公告)日：2015-04-17
申请号：KR1020140062465
申请日：2014-05-23
Applicant: 국방과학연구소
CPC classification number: B60W30/00 , B60W40/105 , B60W2420/42 , B60W2510/20 , G06T7/33
Abstract: 본발명은, 차량에회전가능하게장착되어상기차량주변의영상을획득하는제1 및제2 카메라부, 상기차량의속도값및 조향각을포함하는차량주행상태로부터상기제1 및제2 카메라부에대한제어신호를생성하는제어신호발생부, 및상기차량주행상태에따라상기제어신호발생부로부터전달받은상기제어신호에근거하여상기제1 및제2 카메라부를각각독립적으로회전시키는제1 및제2 제어부를포함하고, 상기제1 및제2제어부는, 상기영상의시야각(angle of field)을증가시키고상기제1 및제2 카메라부와상기영상의중첩되는영역사이의이격거리및 각도로부터거리정보를획득하도록상기영상의중첩되는영역의크기를조절하는것을특징으로하는멀티카메라제어장치를제공한다.
Abstract translation: 本发明提供一种多相机控制装置，其包括：第一和第二相机单元，其旋转地安装在车辆中并获得车辆的周围图像; 控制信号生成单元，从包括所述车辆的速度值和转向角度的驱动条件向所述第一摄像机单元和所述第二摄像机单元生成控制信号; 以及第一和第二控制单元，分别基于从信号控制生成单元发送的控制信号，分别独立地旋转第一和第二相机单元。 第一和第二控制单元增加图像的视场，并且控制图像的重叠区域的尺寸，以从第一和第二相机单元的重叠区域与图像之间的距离和角度获得距离信息。
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公开(公告)号：KR101473736B1
公开(公告)日：2014-12-18
申请号：KR1020130160655
申请日：2013-12-20
Applicant: 국방과학연구소
CPC classification number: G01D21/02 , G01D5/26 , G01D18/008
Abstract: 본 발명은 다중센서로 구성된 시스템에서 센서들 간의 캘리브레이션을 수행할 때, 폐루프(Close-loop)로 센서들 간의 관계가 구성되도록 하여 센서들 간의 캘리브레이션의 성능을 향상하는 장치 및 그 방법에 관한 것으로서, 본 명세서에 개시된 실시예에 따른 폐루프 기반의 다중 센서 캘리브레이션 장치는, 다중 센서 캘리브레이션 장치에 있어서, 상기 다중 센서들로 구성된 폐루프가 폐루프 제약조건에 만족하는지를 결정하는 결정부와; 상기 다중 센서로 구성된 폐루프가 상기 폐루프 제약조건에 만족하면, 상기 폐루프 제약조건을 이용하여 상기 다중 센서의 각 센서 캘리브레이션에 사용되는 오차함수를 최적화하는 제어부를 포함하며, 상기 다중 센서 각각은 하나의 3차원 라이다에 각각 연결된 다수의 배열 카메라로 이루어질 수 있다.
Abstract translation: 本发明涉及一种能够提高传感器之间的校准性能的装置，因为当在由多传感器组成的系统中执行传感器之间的校准时，传感器之间的关系由闭环构成; 及其方法。 根据本发明的实施例，基于闭环的多传感器校准装置包括：确定部件，用于确定由多传感器组成的闭环是否满足闭环约束条件; 以及控制部件，如果由多传感器组成的闭环满足闭环约束条件，则通过使用闭环约束条件来优化在多传感器的每个传感器校准中使用的误差函数。 每个多传感器可以由分别与一个三维激光雷达连接的多个阵列相机组成。
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公开(公告)号：KR101413475B1
公开(公告)日：2014-07-01
申请号：KR1020130018197
申请日：2013-02-20
Applicant: 국방과학연구소
Abstract: The present invention relates to an information sharing-based route planning method for the cooperative driving of multiple robots capable of planning the route of multiple robots by sharing environment recognition results obtained by robots. The information sharing-based route planning method for the cooperative driving of multiple robots comprises a step of setting up a plan for the global route of the multiple robots based on a static map; a step of performing an exploration mission by operating the multiple robots according to the set plan for the global route of the multiple robots; a step of generating a dynamic map on dynamically changed environments by combining the environment recognition results received from the multiple robots with the static map; and a step of correcting the plan for the global route of the multiple robots based on the generated dynamic map.
Abstract translation: 本发明涉及一种基于信息共享的路由规划方法，用于通过共享由机器人获得的环境识别结果来协调驾驶能够规划多个机器人的路线的多个机器人。 用于多机器人的协同驾驶的基于信息共享的路线规划方法包括基于静态地图设定多机器人的全局路线的计划的步骤; 通过根据多机器人的全球路线的设定方案操作多个机器人来执行勘探任务的步骤; 通过将从多个机器人接收的环境识别结果与静态地图相结合，在动态变化的环境上生成动态地图的步骤; 以及基于生成的动态图来校正多个机器人的全局路线的计划的步骤。
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Patent Agency Ranking16.发明公开ＣＤＧＰＳ를 이용한 자율 이동 차량의 위치 추정 시스템, 이를 구비한 자율 이동 차량 및 자율 이동 차량의 위치 추정 방법 有权使用CDGPS估算自动车辆的位置系统，具有该自动车辆的自动车辆和估算自动车辆的位置方法
公开(公告)号：KR1020130045112A
公开(公告)日：2013-05-03
申请号：KR1020110109584
申请日：2011-10-25
Applicant: 국방과학연구소
Abstract: PURPOSE: A position estimating system of an autonomous vehicle using a CDGPS(Carrier-phase Differential GPS), and an autonomous vehicle comprising the same and a position estimating method of the same are provided to collect position information of the autonomous vehicle during delay time or cut-out time. CONSTITUTION: A carrier phase correction GPS(Global Positioning System) part(110) is formed to grasp current position through communication with a base station. A GPS part(120) is formed to grasp the current position by receiving a signal from a GPS satellite. A reception conversion part(130) monitors a first signal outputted from the CDGPS part, and is converted to receive a second signal outputted from the GPS part when the first signal is cut out. A position estimation part estimates the current position of an autonomous vehicle on the basis of the first signal or the second signal. [Reference numerals] (130) Conversion part; (140) Location estimation part; (150) Time delay detection part; (170) Integration part
Abstract translation: 目的：提供使用CDGPS（载波相位差分GPS）的自主车辆的位置估计系统，以及包括该自主车辆的自主车辆和位置估计方法，以在延迟时间内收集自主车辆的位置信息，或 切出时间 构成：通过与基站通信来形成载波相位校正GPS（全球定位系统）部分（110）以掌握当前位置。 通过接收来自GPS卫星的信号，形成GPS部件（120）以掌握当前位置。 接收转换部分（130）监视从CDGPS部分输出的第一信号，并且当第一信号被切断时被转换成接收从GPS部分输出的第二信号。 位置估计部基于第一信号或第二信号来估计自主车辆的当前位置。 （附图标记）（130）转换部; （140）位置估计部分; （150）延时检测部分; （170）集成部分
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公开(公告)号：KR1020120065067A
公开(公告)日：2012-06-20
申请号：KR1020100126391
申请日：2010-12-10
Applicant: 국방과학연구소
IPC: G06T15/00
CPC classification number: G06T17/00 , G06K9/6202 , G06T15/06 , H04N13/204
Abstract: PURPOSE: Three-dimensional environment modeling apparatus and method using the multi-sensor fusion are provided to enable users to accurately recognize the environment information. CONSTITUTION: A three-dimensional environment modeling apparatus comprises the following: a three-dimensional LRF(laser range finder) including a two-dimensional LRF(211), a rotation driving motor(212) rotating the two-dimensional LRF, and a controller(213) controlling the one-axis driving rotation; a computation terminal(230) including a virtual LRF disparity map generator(231), a multi-sensor fusion algorithm processor(232), and a stereo matching algorithm processor(233).
Abstract translation: 目的：提供使用多传感器融合的三维环境建模设备和方法，使用户能够准确识别环境信息。 构成：三维环境建模装置包括：包括二维LRF（211）的三维LRF（激光测距仪），旋转二维LRF的旋转驱动电机（212）和控制器 （213），控制单轴驱动旋转; 包括虚拟LRF视差图生成器（231），多传感器融合算法处理器（232）和立体匹配算法处理器（233）的计算终端（230）。
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公开(公告)号：KR1020140117836A
公开(公告)日：2014-10-08
申请号：KR1020130032613
申请日：2013-03-27
Applicant: 국방과학연구소
Abstract: The present invention relates to an apparatus for generating a driving path of an unmanned autonomous vehicle and a method for controlling the same. The apparatus for generating a driving path of an unmanned autonomous vehicle includes a topography detection sensor unit sensing topography and obstacles of the outside to collect topographic information and obstacle information; an autonomous driving determination unit managing road environment information prestored for autonomous driving of an unmanned autonomous vehicle, extracting road surface information using the collected topographic information and obstacle information, generating a grid map using the collected topographic information and obstacle information, establishing a path plan for the autonomous driving of the unmanned autonomous vehicle from a starting point to a target point using the managed road environment information, the extracted road surface information, and the generated grid map, analyzing the state of the established path plan, the road environment information, and the road surface information, and comparing the result of the analysis with predetermined condition and standard for transition to make decision on the state transition of the path plan; and a driving control unit controlling the unmanned autonomous vehicle to be driven in accordance with the path plan in which the state is transitioned by the decision-making. By applying a path plan method which is based on a state defined by the combination of an environment mode and a driving mode, the present invention is able to efficiently generate a path of an unmanned autonomous vehicle in the urban environment.
Abstract translation: 本发明涉及一种用于产生无人驾驶自动车辆的行驶路径的装置及其控制方法。 用于产生无人驾驶自动车辆的行驶路径的装置包括：地形检测传感器单元，感测地形和障碍物，以收集地形信息和障碍物信息; 管理自动驾驶无人自动车辆的道路环境信息的自主驾驶确定单元，使用收集的地形信息和障碍物信息提取路面信息，使用收集的地形信息和障碍物信息生成网格图，建立路线规划 使用所管理的道路环境信息，所提取的路面信息和所生成的网格图，自动驾驶无人自动车从起点到目标点，分析已建立的路线图的状态，道路环境信息，以及 路面信息，将分析结果与预定条件和过渡标准进行比较，对路径规划状态转换作出决定; 以及驱动控制单元，其根据所述状态通过所述决策过渡的路径计划来控制所述无人驾驶的自动车辆被驱动。 通过应用基于由环境模式和驾驶模式的组合定义的状态的路径规划方法，本发明能够在城市环境中有效地生成无人自行车辆的路径。
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公开(公告)号：KR101304429B1
公开(公告)日：2013-09-06
申请号：KR1020110127833
申请日：2011-12-01
Applicant: 국방과학연구소
IPC: G05D1/02
Abstract: 본 명세서애 개시된 차량 제어 유닛을 위한 지형 정보를 제공하는 방법이 제공된다. 상기 방법은 차량의 특정 전방 영역에 대한 지형 정보를 획득하는 단계; 상기 특정 전방 영역 중 상기 차량의 경로 범위를 결정하는 단계; 및 상기 경로 범위에 대응되는 상기 지형 정보를 상기 차량 제어 유닛으로 전송하는 단계를 포함 할 수 있다.
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公开(公告)号：KR1020130061494A
公开(公告)日：2013-06-11
申请号：KR1020110127833
申请日：2011-12-01
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0276
Abstract: PURPOSE: A method for generating vehicular terrain data based on steering characteristics and a device thereof are provided to reduce calculations required for processing unnecessary terrain data for vehicle driving, thereby improving efficiency of real-time data processing. CONSTITUTION: A terrain information providing device(100) comprises a sensing unit(110), a calculation unit(120), a conversion unit(130), and a driving controller. The sensing unit acquires terrain information about a specific forward area of a vehicle. The calculation unit determines a path range of the vehicle from the specific forward area and extracts terrain information corresponding to the path range. The conversion unit converts the terrain information, which is extracted by the calculation unit, into data having a travelling direction of the vehicle as a reference axis. The driving controller controls driving of the vehicle using the converted terrain information. [Reference numerals] (110) Sensing unit; (120) Calculation unit; (130) Conversion unit; (AA) Body; (BB) Operation control unit
Abstract translation: 目的：提供一种基于转向特性及其装置产生车辆地形数据的方法，以减少用于车辆驾驶处理不必要的地形数据所需的计算，从而提高实时数据处理的效率。 构成：地形信息提供装置（100）包括感测单元（110），计算单元（120），转换单元（130）和驱动控制器。 感测单元获取关于车辆的特定向前区域的地形信息。 计算单元从特定前进区域确定车辆的路径范围，并提取与路径范围对应的地形信息。 转换单元将由计算单元提取的地形信息转换为具有作为参考轴的车辆行驶方向的数据。 驾驶控制器使用转换的地形信息来控制车辆的驾驶。 （附图标记）（110）感测单元; （120）计算单位; （130）转换单位; （AA）身体; （BB）操作控制单元
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