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公开(公告)号：KR1020160048530A
公开(公告)日：2016-05-04
申请号：KR1020140145378
申请日：2014-10-24
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D1/0217
Abstract: 자율이동차량의경로생성장치및 경로생성방법이개시된다. 본발명의실시예들은, 자율이동차량의현위치를파악하고, 상기현위치로부터일정반경내의지형정보와장애물정보를수집하는지형감지센서부와, 상기수집된지형정보및 장애물정보에근거하여장애물지도를생성하고, 베이지안확률추론을이용하여상기생성된장애물지도로부터주행가능영역을추출하고, 마르코프체인기법을이용하여상기추출된주행가능영역에서최적경로를선정하는방식으로경로계획을수립하는자율주행판단부와, 상기수립된경로계획에따라자율이동차량을주행하기위한제어명령을생성하는주행제어부를포함한다.
Abstract translation: 公开了一种用于自主车辆的路线生成装置，其能够使具有障碍物的未铺砌道路或开放场上的自行车辆的曲折驾驶最小化，以及用于其的路线生成方法。 本发明的实施例包括：地理特征传感器单元，其从当前位置收集在特定范围内的地理特征数据和障碍物数据; 自动驾驶确定单元，基于所收集的地理特征数据和障碍物数据生成障碍图，使用贝叶斯概率从生成的障碍物图中提取驾驶可用区域，并以选择最佳路线的方式建立路线规划 在提取的驾驶可用区域使用马可夫链; 以及驱动控制单元，其生成沿着所建立的路线计划来驱动自主车辆的控制命令。
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公开(公告)号：KR101585504B1
公开(公告)日：2016-01-15
申请号：KR1020140026268
申请日：2014-03-05
Applicant: 국방과학연구소
Abstract: 자율이동차량의경로생성방법이개시된다. 본발명의실시예들은, 자율이동차량의현위치를파악하여상기현위치로부터일정반경내의주행영역에서주행방향을가리키는후보아크세트를생성하는단계와; 상기후보아크세트의각 후보아크를기준으로주변영역에존재하는장애물의위치를감지하는단계와;상기감지된장애물의개수정보및 장애물과의거리에근거하여, 상기후보아크세트의각 후보아크에대한제1 거리값을산출하는단계와; 상기후보아크세트의각 후보아크가가리키는방향과목표점지향각과의편차정보에근거하여제2거리값을산출하되, 상기자율이동차량의현위치와상기현위치로부터가까운제1지점및 제2지점이형성하는곡률반경이기준값이하인경우, 해당곡률반경을사용하여상기제2 거리값을산출하는단계와; 상기후보아크및 세트에서상기제1 및제2거리값의합이최소가되는후보아크를최적의아크로선택하고, 선택된아크가가리키는방향과회전곡률을추종하도록상기자율이동차량의경로를생성하는단계를포함하여이루어진다.
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公开(公告)号：KR101367154B1
公开(公告)日：2014-02-27
申请号：KR1020110138570
申请日：2011-12-20
Applicant: 국방과학연구소
Abstract: 본 발명은 힘 센서를 사용하지 않고 암 회전 상태 정보와 휠의 토크 정보를 이용하여 수직력을 추정하는 휠 차량의 수직력 추정 장치 및 그 방법에 관한 것으로, 본체에 대한 암의 회전각과 휠에 작용되는 종방향의 토크를 검출한 후 암의 회전 정보 및 휠의 토크 정보를 이용하여 상기 암에 작용하는 스프링 토크를 계산하여, 상기 검출된 암과 본체와의 상대정보를 이용하여 상기 휠에 작용하는 수직력을 추정함으로써 주행제어에서 가장 중요한 수직력을 정확하게 예측함으로써 주행제어 성능을 향상시킬 수 있을 뿐만 아니라 차량의 자세제어 등에도 다양하게 이용할 수 있는 효과가 있다.
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公开(公告)号：KR101331832B1
公开(公告)日：2013-11-22
申请号：KR1020110102725
申请日：2011-10-07
Applicant: 국방과학연구소
Abstract: 본 발명은 적어도 하나 이상의 중계기를 자율 주행 로봇에 장착하여, 주행중에 원격 제어단말과 통신 감도가 양호하지 않은 경우 중계기를 투하하여 통신을 수행함으로써 외부 통신 시설이나 인프라에 의존하지 않고 자체적으로 원격 제어단말과 원활한 통신을 수행할 수 있으며, 작전이 종료되어 원 위치로 복귀할 때 기 투하된 중계기를 회수함으로써 보안 문제로부터 자유롭고 재사용이 가능하도록 한 중계기를 갖는 자율 주행 로봇, 그의 통신방법 및 중계기 투하/회수방법에 관한 것이다.
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公开(公告)号：KR1020130038074A
公开(公告)日：2013-04-17
申请号：KR1020110102725
申请日：2011-10-07
Applicant: 국방과학연구소
CPC classification number: H04B7/15507 , B25J11/002
Abstract: PURPOSE: A communication system including a repeater, an autonomous robot, and a communication method thereof are provided to enable a robot to maintain smooth communication with a remote control terminal. CONSTITUTION: A mounting unit(110) includes multiple dent areas formed on the boundary of a main body. One or more repeaters(200) are mounted on the mounting unit. An electromagnet unit(120) attaches or detaches a repeater with an electromagnetic force. When communication sensitivity with a remote control device is reduced, a control unit applies the electromagnetic force to the electromagnet unit. The control unit drops the repeater mounted on the mounting unit to the ground. The control unit communicates with the remote control device through the corresponding repeater.
Abstract translation: 目的：提供一种包括中继器，自主机器人及其通信方法的通信系统，以使机器人能够保持与遥控终端的平滑通信。 构成：安装单元（110）包括形成在主体边界上的多个凹陷区域。 一个或多个中继器（200）安装在安装单元上。 电磁单元（120）用电磁力附接或分离中继器。 当与遥控装置的通信灵敏度降低时，控制单元将电磁力施加到电磁体单元。 控制单元将安装在安装单元上的转发器卸下到地面。 控制单元通过对应的中继器与遥控装置进行通信。
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Patent Agency Ranking
公开(公告)号：KR101170914B1
公开(公告)日：2012-08-06
申请号：KR1020110106656
申请日：2011-10-18
Applicant: 국방과학연구소
Abstract: PURPOSE: An autonomous navigation robot and a method for moving the robot on an inclined plane are provided to reduce a delay of a traveling time generated when the robot does not move on the inclined plane. CONSTITUTION: An autonomous navigation robot(10) comprises a pose sensor and a control unit. The pose sensor senses a roll, pitch, and yaw angle value of the robot. When the robot enters an inclined plane(200) from a flat plane(100), the control unit converts a roll axis, pitch axis, and yaw axis coordinate of virtual vectors using the values obtained by the pose sensor. The control unit calculates a steering value, and controls the robot based on the steering value.
Abstract translation: 目的：提供一种自主导航机器人和用于在倾斜平面上移动机器人的方法，以减少机器人在倾斜平面上不移动时产生的行进时间的延迟。 构成：自主导航机器人（10）包括姿态传感器和控制单元。 姿态传感器感测机器人的滚动，俯仰和偏航角度值。 当机器人从平面（100）进入倾斜平面（200）时，控制单元使用由姿态传感器获得的值来转换虚拟向量的滚动轴，俯仰轴和偏航轴坐标。 控制单元计算转向值，并且基于转向值来控制机器人。
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公开(公告)号：KR101078854B1
公开(公告)日：2011-11-02
申请号：KR1020090089767
申请日：2009-09-22
Applicant: 국방과학연구소
Abstract: 본발명은회전가능한암과상기암을구동시키기위한암 구동부를구비하는본체와, 상기암에회전가능하게장착되는휠과, 상기휠이지면으로부터떨어진비접촉상태를감지하는센싱유닛을포함하고, 상기센싱유닛은상기암 구동부와암 사이에설치되며상기암이상기암 구동부의출력축에대해상대회전운동함에따라인장또는압축되는스프링과, 상기본체에대한상기암의회전구동정보및 지면에대한상기본체의자세정보를각각검출하는제1 및제2센서와, 상기암의회전구동정보및 상기본체의자세정보중 적어도하나로부터상기비접촉상태에서상기스프링이갖는기준길이를계산하고, 상기스프링의측정길이와상기기준길이를근거로상기휠의비접촉상태를검출하는제어부를포함하는것을특징으로하는휠 구동차량및 이에적용된휠 접촉감지방법을제시한다.
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公开(公告)号：KR1020110032333A
公开(公告)日：2011-03-30
申请号：KR1020090089767
申请日：2009-09-22
Applicant: 국방과학연구소
Abstract: PURPOSE: A wheel driving vehicle and a wheel contact sensing method thereof are provided to confirm the position control error of a wheel by sensing the contact of the wheel in various directions. CONSTITUTION: A wheel driving vehicle comprises a wheel(130) and a sensing unit. The wheel is rotatably installed in an arm(120) of a main body(110). The sensing unit senses a non-contact state that the wheel is separated from the ground. The sensing unit comprises a spring(141), first and second sensors, and a controller. When the arm is relatively rotated to the output shaft of an arm drive unit(121), the spring is stretched or compressed. The first and second sensors detect arm drive information and main body posture information. The controller detects the non-contact state of the wheel based on the measured length and reference length of the spring.
Abstract translation: 目的：提供车轮驱动车辆和车轮接触检测方法，以通过感测车轮在各个方向上的接触来确认车轮的位置控制误差。 构成：轮驱动车辆包括轮（130）和感测单元。 车轮可旋转地安装在主体（110）的臂（120）中。 感测单元感测到车轮与地面分离的非接触状态。 感测单元包括弹簧（141），第一和第二传感器以及控制器。 当臂相对于臂驱动单元（121）的输出轴旋转时，弹簧被拉伸或压缩。 第一和第二传感器检测臂驱动信息和主体姿势信息。 控制器根据弹簧的测量长度和参考长度来检测车轮的非接触状态。
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公开(公告)号：KR1020130071197A
公开(公告)日：2013-06-28
申请号：KR1020110138570
申请日：2011-12-20
Applicant: 국방과학연구소
CPC classification number: G01L3/06 , B60W40/12 , G01L5/0057
Abstract: PURPOSE: A vertical force estimator of wheel vehicles and a method thereof are provided to predict vertical force on new type wheels by having torque information of wheels and arm rotation angles of wheel vehicles having arm shaped suspension. CONSTITUTION: A vertical force estimation method of wheel vehicles comprises the following steps: (S10) detecting rotation information of arms for a main body; (S11) detecting torque information operated on wheels; (S12) calculating spring torque applied on the arms using torque information of wheels and rotation information of the arms; and (S13) estimating the vertical force acted on the wheels by using information of the detected arms and main body. A vertical force estimator of wheel vehicles comprises a main body which equips an arm driving unit which drives the arms and rotary arms; wheels which are rotatably mounted on the arms; a cylinder which is extended or compressed as relatively moving for an output shaft of the arm driving unit; first and second sensors which respectively detects torque information applied in the rotation information of the arms for the main body and the wheels; and a control unit which estimates vertical force acted on the wheels by using information of calculated arms and the main body and calculating spring torque applied in the arms by using torque information of wheels and rotation information of the detected arms. [Reference numerals] (AA) Start; (BB) End; (S10) Detecting rotation information of arms for a main body; (S11) Detecting torque information operated on wheels; (S12) Calculating spring torque applied on the arms using torque information of wheels and rotation information of the arms; (S13) Estimating the vertical force acted on the wheels by using information of the detected arms and main body
Abstract translation: 目的：提供轮式车辆的垂直力估计器及其方法，通过具有轮臂和转臂角度的转向信息来预测新型车轮的垂直力。 构成：车轮的垂直力估计方法包括以下步骤：（S10）检测主体的臂的旋转信息; （S11）检测在车轮上操作的扭矩信息; （S12）使用车轮的转矩信息和臂的旋转信息来计算施加在臂上的弹簧扭矩; 以及（S13）通过使用检测到的臂和主体的信息估计作用在车轮上的垂直力。 车轮的垂直力估计器包括：主体，其配备驱动臂和旋转臂的臂驱动单元; 轮可旋转地安装在臂上; 对臂驱动单元的输出轴相对移动地延伸或压缩的气缸; 第一和第二传感器，其分别检测施加在主体和车轮的臂的旋转信息中的扭矩信息; 以及控制单元，其通过使用计算的臂和主体的信息来估计作用在车轮上的垂直力，并且通过使用车轮的扭矩信息和检测到的臂的旋转信息来计算施加在臂中的弹簧扭矩。 （附图标记）（AA）开始; （BB）结束; （S10）检测主体的臂的旋转信息; （S11）检测在车轮上操作的扭矩信息; （S12）使用车轮的转矩信息和臂的旋转信息来计算施加在臂上的弹簧扭矩; （S13）通过使用检测到的臂和主体的信息来估计作用在车轮上的垂直力
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公开(公告)号：KR101141947B1
公开(公告)日：2012-05-04
申请号：KR1020110121725
申请日：2011-11-21
Applicant: 국방과학연구소
Abstract: PURPOSE: A wheel apparatus and a vehicle equipped with the wheel apparatus is able to be applied a remote control robot, a self control moving robot, and a compact unmanned robot and driven at high speed in the paved road and driven in the unpaved road with getting over the obstacle. CONSTITUTION: A wheel apparatus comprises a track assembly, a track wheel, and driving wheel(260). The track assemblies are connected with each other and forms a caterpillar(52). The traveling wheel is connected to the track assembly to be rotated and comprises a first diameter. The driving wheel is coupled with the track wheel and comprises a second diameter longer than the first diameter.
Abstract translation: 目的：配备轮式装置的轮装置和车辆能够应用遥控机器人，自动控制移动机器人和紧凑型无人机器人，并且在铺设的道路中以高速驱动并且在未铺砌道路中被驱动， 越过障碍 构成：轮装置包括轨道组件，履带轮和驱动轮（260）。 轨道组件彼此连接并形成履带（52）。 行进轮连接到轨道组件以旋转并且包括第一直径。 驱动轮与履带轮联接并且包括比第一直径长的第二直径。
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