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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：KR101565900B1
公开(公告)日：2015-11-05
申请号：KR1020130156665
申请日：2013-12-16
Applicant: 국방과학연구소
Abstract: 본발명은각각촬영된이미지정보및 거리정보를이용하여좌표변환을하는캘리브레이션장치및 방법을제공하며, 꼭지점을포함하는평판부재를이용하고, 상기거리정보로부터예측된꼭지점과상기이미지정보로부터추출된꼭지점으로이루어지는대응쌍을이용하여좌표변화를구현한다. 이에따라, 레이저센서및 카메라와상기평판부재가배치되는위치의한계를극복할수 있다.
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公开(公告)号：KR1020150069927A
公开(公告)日：2015-06-24
申请号：KR1020130156665
申请日：2013-12-16
Applicant: 국방과학연구소
CPC classification number: G01S7/497 , G01S17/023 , G06T7/85 , G06T2207/10028
Abstract: 본발명은각각촬영된이미지정보및 거리정보를이용하여좌표변환을하는캘리브레이션장치및 방법을제공하며, 꼭지점을포함하는평판부재를이용하고, 상기거리정보로부터예측된꼭지점과상기이미지정보로부터추출된꼭지점으로이루어지는대응쌍을이용하여좌표변화를구현한다. 이에따라, 레이저센서및 카메라와상기평판부재가배치되는위치의한계를극복할수 있다.
Abstract translation: 本发明提供了一种用于通过使用各个拍摄图像的信息和距离信息来转换坐标的校准装置和校准方法，其中通过使用包括顶点的平板构件和通过使用包括顶点的对应的一对线来计算坐标变化 从距离信息估计出的顶点和从图像信息中提取的顶点。 因此，可以克服激光传感器，相机和板构件的位置的限制。
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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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15.发明授权
公开(公告)号：KR101116033B1
公开(公告)日：2012-03-13
申请号：KR1020110109583
申请日：2011-10-25
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0278 , G05D1/024 , G05D1/0246
Abstract: PURPOSE: An autonomous return system, an autonomous mobile vehicle including the same, and an autonomous travel method of the autonomous mobile vehicle are provided to switch an absolute position estimation process and a relative position estimation process by setting the number of usable GPS(Global Positioning System) satellites as a judgment standard. CONSTITUTION: A location receiver receives position data of a main body. A satellite tracking part tracks the number of GPS(Global Positioning System) satellites(110). A driving method determination part determines a driving method according to the number of tracked GPS satellites. An operation part based on an absolute location includes an absolute location determination part and a first path setting part. An absolute position of a main body is determined by an absolute position determination part. A first route determination part outputs a return command to a driving control part. A controller(100) manages inputted and outputted information.
Abstract translation: 目的：提供一种自主返回系统，包括该自主移动车辆的自主移动车辆和自主移动车辆的自主旅行方法，通过设置可用的GPS（全球定位）的数量来切换绝对位置估计处理和相对位置估计处理 系统）卫星作为判断标准。 构成：位置接收器接收主体的位置数据。 卫星跟踪部分跟踪GPS（全球定位系统）卫星的数量（110）。 驾驶方法确定部件根据跟踪的GPS卫星的数量确定驾驶方法。 基于绝对位置的操作部分包括绝对位置确定部分和第一路径设置部分。 主体的绝对位置由绝对位置确定部确定。 第一路径确定部分向驾驶控制部分输出返回命令。 控制器（100）管理输入和输出的信息。
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Patent Agency Ranking
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公开(公告)号：KR101356172B1
公开(公告)日：2014-01-24
申请号：KR1020130010633
申请日：2013-01-30
Applicant: 국방과학연구소
IPC: H04N13/00
CPC classification number: H04N13/271 , H04N13/246
Abstract: The present invention relates to a three-dimensional image generating apparatus for remote control and a method thereof. The three-dimensional image generating apparatus for remote control according to an embodiment of the present invention includes: a camera which photographs an image; a three-dimensional laser sensor which senses a distance a mapping unit which maps the image data and the distance data by performing the calibration of the camera and the three-dimensional laser sensor; and an image generating unit which generates a three-dimensional image which integrates the image data and the distance data based on the mapped result. The mapping unit maps the distance data onto the image data by reducing the number of distance data which are classified as ground data after classifying as the ground data or non-ground data according to determined standards. [Reference numerals] (110) Camera; (120) Three-dimensional laser sensor; (130) Mapping unit; (140) Image generating unit; (150) Operation unit; (AA) Remote control device
Abstract translation: 本发明涉及一种用于遥控的三维图像产生装置及其方法。 根据本发明的实施例的用于遥控的三维图像生成装置包括：拍摄图像的相机; 三维激光传感器，其通过执行相机和三维激光传感器的校准来感测通过映射图像数据和距离数据的映射单元的距离; 以及图像生成单元，其生成基于映射结果对图像数据和距离数据进行积分的三维图像。 映射单元根据确定的标准，通过减少分类为地面数据的距离数据作为地面数据或非地面数据，将距离数据映射到图像数据上。 （附图标记）（110）相机; （120）三维激光传感器; （130）映射单元; （140）图像生成单元; （150）操作单元; （AA）遥控装置
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公开(公告)号：KR101140558B1
公开(公告)日：2012-05-02
申请号：KR1020110106127
申请日：2011-10-17
Applicant: 국방과학연구소
Abstract: PURPOSE: An autonomous mobile robot and a control method thereof are provided to generate a return path corresponding to an entrance path using images photographed by multiple cameras. CONSTITUTION: An autonomous mobile robot(100) comprises a main body(100), a position receiving unit(120), a receiving unit(130), a matching unit, and a path generating unit. The main body is moved toward a target point. The position receiving unit receives the position data of the main body. The sensing unit is installed in the main body and photographs surroundings. The matching unit extracts feature points from the photographed images and matches the extracted feature points with the position data. When the main body reaches the target point, the path generating unit generates the return path for the main body.
Abstract translation: 目的：提供一种自主移动机器人及其控制方法，以使用由多台照相机拍摄的图像产生与入口路径对应的返回路径。 构成：自主移动机器人（100）包括主体（100），位置接收单元（120），接收单元（130），匹配单元和路径生成单元。 主体朝向目标点移动。 位置接收单元接收主体的位置数据。 感测单元安装在主体中并拍摄周围环境。 匹配单元从拍摄图像中提取特征点，并将提取的特征点与位置数据进行匹配。 当主体到达目标点时，路径生成单元生成主体的返回路径。
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19.发明授权자율 이동 차량의 장애물 지도 생성 장치, 이를 구비하는 자율 이동 차량 및 자율 이동 차량의 장애물 지도 생성 방법 有权用于创建自动车辆的自动车辆地图的装置，具有该自动车辆的自动车辆的装置和用于创建自动车辆的OBSTACLE地图的方法
公开(公告)号：KR101041930B1
公开(公告)日：2011-06-16
申请号：KR1020100139536
申请日：2010-12-30
Applicant: 국방과학연구소
CPC classification number: G05D1/0214
Abstract: PURPOSE: An apparatus for creating obstacle map of an autonomous vehicle, the autonomous vehicle having the same and method for creating an obstacle map of the autonomous vehicle are provided to generate the obstacle map of the autonomous vehicle by using different height difference and gradient. CONSTITUTION: In an apparatus for creating obstacle map of an autonomous vehicle, the autonomous vehicle having the same and method for creating an obstacle map of the autonomous vehicle, ' An autonomous vehicle(100) generates an autonomic driving command. A main body(110) includes a driving unit and a receiver. The autonomous vehicle receives a group of route points from a remote control unit(200). A steering control apparatus generates a steering command so that the main body follows estimated route point. The driving controller controls the driving unit of the main body.
Abstract translation: 目的：提供一种用于创建自主车辆的障碍物图的装置，具有相同的自主车辆和用于创建自主车辆的障碍物图的方法，以通过使用不同的高度差和梯度来生成自主车辆的障碍物图。 构成：在自主车辆的障碍物图生成装置中，具有相同的自主车辆和自主车辆的障碍图的制造方法“自主车辆（100）产生自主驾驶指令。 主体（110）包括驱动单元和接收器。 自主车辆从远程控制单元（200）接收一组路线点。 转向控制装置产生转向指令，使得主体跟随估计的路线点。 驱动控制器控制主体的驱动单元。
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公开(公告)号：KR101040528B1
公开(公告)日：2011-06-16
申请号：KR1020110014286
申请日：2011-02-17
Applicant: 국방과학연구소
Abstract: PURPOSE: A topography sensor assembly and an autonomous mobile platform including the same are provided to optimize a three dimensional space modeling process by relatively rotating radar driving units equipped with radars. CONSTITUTION: A first radar driving unit(126a) and a second radar driving unit(126b) are combined with the outer circumferential surface of a rotary driving unit(120). The radar driving units rotate with the rotary driving unit. A first radar(122) is arranged in the first radar driving unit and senses a distance between a main body and a target object and topographical information in a first region. A second radar(123) is arranged in the second radar driving unit senses a distance between a main body and a target object and topographical information in a second region. A part of the second region is overlapped with the first region.
Abstract translation: 目的：提供一种地形传感器组件和包括该地形传感器组件的自主移动平台，以通过相对旋转配备有雷达的雷达驱动单元来优化三维空间建模过程。 构成：第一雷达驱动单元（126a）和第二雷达驱动单元（126b）与旋转驱动单元（120）的外圆周表面组合。 雷达驱动单元与旋转驱动单元一起旋转。 第一雷达（122）布置在第一雷达驱动单元中，并且感测主体和目标对象之间的距离以及第一区域中的地形信息。 第二雷达（123）布置在第二雷达驱动单元中，感测主体和目标对象之间的距离以及第二区域中的地形信息。 第二区域的一部分与第一区域重叠。
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