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公开(公告)号：KR101152250B1
公开(公告)日：2012-06-08
申请号：KR1020110103386
申请日：2011-10-11
Applicant: 국방과학연구소
Abstract: PURPOSE: A vehicle radar misdetection information eliminating apparatus and a method thereof are provided to effectively eliminate random misdetection information when a difference of an azimuth and a distance received from a plurality of radars is out of a predetermined range. CONSTITUTION: A misdetection information elimination apparatus(100) comprises vehicle radars(102,104) and a controller(120). The vehicle radar detects an identical object of a front side by being closely arranged on upper and lower sides in order to monitor an identical region. The controller compares and analyzes detection information transmitted from the two radars by being connected to the two vehicle radars. A detection information receiving part of the controller receives the detection information with respect to the identical object of the front side from the two vehicle radars. The detection information process part of the controller respectively compares azimuths and distances of the detection information with respect to the identical object. Misdetection information is determined when the detection information is not included in a predetermined range.
Abstract translation: 目的：提供一种车辆雷达误检信息消除装置及其方法，用于当从多个雷达接收的方位角和距离的差异超出预定范围时，有效地消除随机误检信息。 构成：错误检测信息消除装置（100）包括车辆雷达（102,104）和控制器（120）。 车辆雷达通过紧密地布置在上侧和下侧来检测前侧的相同物体，以便监视相同的区域。 控制器通过连接到两个车辆雷达来比较和分析从两个雷达发送的检测信息。 控制器的检测信息接收部分从两个车辆雷达接收关于前侧相同物体的检测信息。 控制器的检测信息处理部分分别比较相对于同一物体的检测信息的方位角和距离。 当检测信息不包括在预定范围内时，确定检错信息。
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公开(公告)号：KR101133037B1
公开(公告)日：2012-04-04
申请号：KR1020110127524
申请日：2011-12-01
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/0248 , G05D1/027 , G05D1/0278
Abstract: PURPOSE: A route updating method for avoiding a collision between autonomous vehicles and an apparatus using the same are provided to avoid the collision by reducing a calculation amount required to avoid the collision. CONSTITUTION: A plurality of 2D radar(LADAR) detects geographic information which includes obstacles arranged near a travel route of an autonomous vehicle. A navigation-processing computer(20) processes position, posture, and velocity information of the autonomous vehicle using navigation information from a compass(23), an inertial navigation system(22), or a global positioning system(21). A 2D LADAR processing computer(30) acquires obstacle information by processing the navigation information from the navigation-processing computer and the geographic information acquired by the 2D LADAR. A path control computer(40) performs a collision avoidance process in a reconfigurable mode after removing a path point by utilizing the obstacle information from the 2D LADAR processing computer.
Abstract translation: 目的：提供一种用于避免自主车辆与使用其的装置之间的碰撞的路线更新方法，以通过减少避免碰撞所需的计算量来避免碰撞。 构成：多个2D雷达（LADAR）检测包括布置在自主车辆的行进路线附近的障碍物的地理信息。 导航处理计算机（20）使用来自罗盘（23），惯性导航系统（22）或全球定位系统（21）的导航信息来处理自主车辆的位置，姿势和速度信息。 2D LADAR处理计算机（30）通过处理来自导航处理计算机的导航信息和由2D LADAR获取的地理信息来获取障碍物信息。 路径控制计算机（40）通过利用来自2D LADAR处理计算机的障碍物信息去除路径点后，进行可重构模式的碰撞避免处理。
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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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公开(公告)号：KR101033167B1
公开(公告)日：2011-05-11
申请号：KR1020110009778
申请日：2011-01-31
Applicant: 국방과학연구소
Abstract: PURPOSE: A calibration device, system and method of a laser sensor and camera are provided to make direct coordinate conversion between image information and distance information using transformation matrix. CONSTITUTION: A calibration device of a laser sensor and camera comprises a laser sensor(10) and a calibration module. The laser sensor senses distance information. The calibration module produces the correspondence of the distance information and image information and performs calibration of a laser sensor and camera(20). The calibration module comprises a planar member(110) and a controller. The planar member is arranged within a shooting area in order to be taken by the camera. The controller converts coordinate between the distance information and image information by using a planar member image of image information and a rate of planar member one side and cross line segment.
Abstract translation: 目的：提供激光传感器和摄像机的校准装置，系统和方法，使用变换矩阵对图像信息和距离信息进行直接坐标转换。 构成：激光传感器和相机的校准装置包括激光传感器（10）和校准模块。 激光传感器感测距离信息。 校准模块产生距离信息和图像信息的对应关系，并执行激光传感器和照相机（20）的校准。 校准模块包括平面构件（110）和控制器。 平面构件布置在拍摄区域内以便被照相机拍摄。 控制器通过使用图像信息的平面构件图像和平面构件一侧和交叉线段的速率来转换距离信息和图像信息之间的坐标。
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公开(公告)号：KR1020160081268A
公开(公告)日：2016-07-08
申请号：KR1020140194836
申请日：2014-12-31
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D1/021 , G05D2201/0213
Abstract: 본발명의무인차량에는주행하는경로의자신위치와두 개의경로점으로원을생성하는원 생성부(10), 생성된원의궤적을추종하기위한헤딩명령이생성되는헤딩명령생성부(20), 생성된헤딩명령에감쇠계수()와고유진동수()을적용해필터링하는필터링부(30)가포함된헤딩명령생성장치(1-1)를탑재함으로써불확실성을내재한센서가이용되더라도제공된경로점세트의불확실성이극복되는특징을갖는다.
Abstract translation: 本发明提供一种用于生成用于无人驾驶车辆的自主导航的航向指令的方法及其装置，以克服所提供的航点设定的不确定性，即使使用具有不确定性的传感器。 无人驾驶车辆包括：通过导航路线上的车辆位置产生圆的圆生成单元（10）和两个航路点; 标题命令生成单元（20），生成用于跟踪所生成的圆的轨迹的标题命令; 以及通过对所生成的航向命令应用衰减系数和唯一的振动频率来执行滤波的滤波单元（30）。 因此，即使使用具有不确定性的传感器，消除了提供的航点集的不确定性。
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Patent Agency Ranking16.发明授权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：KR101265091B1
公开(公告)日：2013-05-20
申请号：KR1020110109584
申请日：2011-10-25
Applicant: 국방과학연구소
Abstract: 본발명의일 실시예에따르는 CDGPS를이용한자율이동차량의위치추정시스템은, 기지국과의통신을통해현재위치를파악할수 있도록형성되는반송파보정위성항법장치(CDGPS)부와, GPS 위성의신호를수신하여현재위치를파악할수 있도록형성되는 GPS부와, 상기 CDGPS부로부터출력되는제1 신호를모니터링하고, 제1 신호가단절될때, 상기 GPS부로부터출력되는제2 신호를수신하도록전환하는수신전환부및 상기제1 신호또는제2 신호에기초하여자율이동차량의현재위치를추정하는위치추정부를포함함으로써, 자율주행차량은불확실한상황하에서도현재위치를정확히산출하여목표지점까지도달하거나최초위치로안전하게복귀할수 있다.
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公开(公告)号：KR101145112B1
公开(公告)日：2012-05-14
申请号：KR1020100044148
申请日：2010-05-11
Applicant: 국방과학연구소
CPC classification number: B62D1/283 , B62D6/002 , G05D1/021 , G05D2201/0209
Abstract: Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.
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公开(公告)号：KR1020110124646A
公开(公告)日：2011-11-17
申请号：KR1020100044148
申请日：2010-05-11
Applicant: 국방과학연구소
CPC classification number: B62D1/283 , B62D6/002 , G05D1/021 , G05D2201/0209
Abstract: PURPOSE: A steering control device of the autonomic mobile unit, an autonomic mobile car including the same and a steering control method of the autonomic mobile car are provided to generate a steering command in real time through a small data processing. CONSTITUTION: A steering control method of the autonomic mobile car comprises the following steps. The first heading angle of the autonomic mobile car about the location of the autonomic mobile unit and north are received(S100). The second heading angle of the autonomic mobile unit facing the following way point based on the location of the autonomic mobile unit is produced. The radius of rotation of the autonomic mobile unit about the following way point is computed(S200). The yaw rate which follows the radius of rotation using the calculated radius of rotation and the speed of the autonomic mobile unit is calculated. The steering command corresponding to the calculated yaw rate is generated(S300). The steering command is compensated using the first and second heading angles(S400).
Abstract translation: 目的：提供自主移动单元的转向控制装置，包括其的自主移动车和自主移动车的转向控制方法，以通过小数据处理实时生成转向命令。 构成：自主移动车辆的转向控制方法包括以下步骤。 接收自主移动车关于自主移动单元和北的位置的第一航向角（S100）。 基于自主移动单元的位置，产生面向以下方式的自主移动单元的第二航向角。 计算自主移动单元关于以下路点的旋转半径（S200）。 计算使用计算的旋转半径和自主移动单元的速度跟随旋转半径的偏航率。 生成与计算出的横摆角速度对应的转向指令（S300）。 使用第一和第二方向角来补偿转向命令（S400）。
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公开(公告)号：KR101049906B1
公开(公告)日：2011-07-15
申请号：KR1020100139538
申请日：2010-12-30
Applicant: 국방과학연구소
CPC classification number: G05D1/0214 , B60W30/08 , G05D1/0223
Abstract: PURPOSE: An autonomous mobile apparatus and a collision avoiding method thereof are provided to reliably predict the moving route of mobile obstacles and avoid the collision against the obstacles. CONSTITUTION: A plurality of wheels(300) are installed in the body of an autonomous mobile apparatus. An absolute position recognition unit(210) recognizes the absolute position of the autonomous mobile apparatus and the absolute position of an obstacle as regular time intervals. An obstacle moving route calculation unit(240) calculates the moving route of an obstacle using the absolute position of the obstacle recognized at regular time intervals and cubic function. An obstacle position calculation unit(250) computes the expected position of the obstacle at the specific point of time using the moving route and speed of the obstacle. A control unit(220) determines the probability of a collision against the obstacle and drives the wheels with controlled direction and speed in order to avoid the collision.
Abstract translation: 目的：提供一种自主移动装置及其防碰撞方法，以可靠地预测移动障碍物的移动路线，避免与障碍物的碰撞。 构成：在自主移动装置的主体中安装有多个轮（300）。 绝对位置识别单元（210）将自主移动装置的绝对位置和障碍物的绝对位置识别为规则的时间间隔。 障碍物移动路线计算单元（240）使用以规则时间间隔识别的障碍物的绝对位置和立方函数来计算障碍物的移动路线。 障碍物位置计算单元（250）使用障碍物的移动路线和速度来计算特定时刻的障碍物的预期位置。 控制单元（220）确定与障碍物碰撞的概率，并以受控的方向和速度驱动车轮，以避免碰撞。
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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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