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公开(公告)号：KR101510075B1
公开(公告)日：2015-04-08
申请号：KR1020130162357
申请日：2013-12-24
Applicant: 전자부품연구원
Abstract: 본발명은다수의물품을이송하는컨베이어상측에서적어도두 개이상배치되는픽업로봇과, 상기컨베이어진행방향을기준으로상기픽업로봇의전방에구비되어상기컨베이어상에위치하는물품들의이미지를획득하는이미지획득유닛과, 상기이미지획득유닛과픽업로봇에전기적으로연결되어, 상기이미지획득유닛으로써전송된상기물품들의위치정보및 픽업지점을산출하고, 산출된정보로써상기픽업로봇의물품픽업순서를제어하는제어부를포함하는로봇제어시스템을제공한다.
Abstract translation: 本发明提供了一种机器人控制系统，包括：至少两个拾取机器人，其布置在传送多个物品的输送机的上侧; 相对于所述输送机的移动方向安装在所述拾取机器人前方的图像获取单元，以及获取位于所述输送机上的物品的图像; 以及控制单元，电连接到图像获取单元和拾取机器人，计算从图像获取单元发送的物品的位置信息和拾取点，以及控制拾取器的物品拾取顺序 机器人基于计算的信息。
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公开(公告)号：KR101256861B1
公开(公告)日：2013-04-22
申请号：KR1020110143002
申请日：2011-12-27
Applicant: 전자부품연구원
Abstract: PURPOSE: A checker board device for calibration and a calibration method using the same are provided to conduct calibration using multiple checker boards against multiple cameras, thereby conducting precise calibration. CONSTITUTION: A checker board device for calibration includes a reference board(10) and multiple checker boards(30,50). A robot(100) having multiple cameras(111) for obtaining wrap around videos is placed on the reference board which is a polygonal plate. The checker boards respectively corresponding to the cameras are respectively connected to the edges of the reference board in order to surround the robot in all directions, for providing a reference for calibrating the cameras.
Abstract translation: 目的：提供用于校准的棋盘装置和使用其的校准方法，以使用多个相机对多个相机进行校准，从而进行精确校准。 规定：用于校准的棋盘装置包括参考板（10）和多个棋盘（30,50）。 具有用于获得围绕视频的多个相机（111）的机器人（100）被放置在作为多边形板的参考板上。 分别对应于相机的检验板分别连接到参考板的边缘，以便围绕所有方向的机器人，以提供用于校准相机的参考。
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公开(公告)号：KR1020110072009A
公开(公告)日：2011-06-29
申请号：KR1020090128767
申请日：2009-12-22
Applicant: 전자부품연구원
IPC: H04L12/66
CPC classification number: H04L41/02 , H04L2012/40215
Abstract: PURPOSE: A robot communications conversion network system and an operating method thereof are provided to use by combining a CAN network and an ETHER CAT network each other without the change of the specific communications network. CONSTITUTION: A CAN network system(200) supports the peer-to-peer communications of one or more network nodes. A data converting device(300) converts an ether CAT network message which is created in the Ether CAT network system into the CAN frame(100). The data converting device transfers the converted ether CAT network message to the CAN network system. The data converting device converts the CAN frame which is delivered from the CAN network system into an Ether CAT network message. The data converting device transfers the converted Ether CAT network message to the ether CAT network system.
Abstract translation: 目的：提供一种机器人通信转换网络系统及其操作方法，通过在不改变特定通信网络的情况下组合CAN网络和ETHER CAT网络来使用。 规定：CAN网络系统（200）支持一个或多个网络节点的对等通信。 数据转换装置（300）将在Ether CAT网络系统中创建的以太网CAT网络消息转换成CAN帧（100）。 数据转换设备将转换的以太网CAT网络消息传送到CAN网络系统。 数据转换装置将从CAN网络系统传送的CAN帧转换成以太网CAT网络消息。 数据转换设备将转换的以太网CAT网络消息传送到以太网CAT网络系统。
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公开(公告)号：KR1020110063099A
公开(公告)日：2011-06-10
申请号：KR1020090120043
申请日：2009-12-04
Applicant: 전자부품연구원
Abstract: PURPOSE: A device and method for controlling robot capable of controlling the motion of a robot based on the natural dynamic characteristic of a robot is provided to reduce the overload of a system and to stably manage a robot. CONSTITUTION: A device for controlling robot capable of controlling the motion of a robot comprises a command receiver(110), a sensor unit(120), a controller(160), and an arm(140). The command receiver receives a message command from an operator and upper control command device. The sensor unit receives a sensor signal according to the current state of a robot(100). The controller controls the new command according to the current state of the robot. The arm is operated in a fixed location and speed according to the command, transmitted in the command receiver, or the new command.
Abstract translation: 目的：提供一种用于控制机器人能够基于机器人的自然动态特性来控制机器人的运动的装置和方法，以减少系统的过载并稳定地管理机器人。 构成：用于控制机器人能够控制机器人运动的装置包括命令接收器（110），传感器单元（120），控制器（160）和臂（140）。 命令接收器从操作员和上位控制指令装置接收消息命令。 传感器单元根据机器人（100）的当前状态接收传感器信号。 控制器根据机器人的当前状态控制新命令。 手臂按照命令，命令接收器中传输的命令或新命令在固定位置和速度下运行。
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公开(公告)号：KR1020110023342A
公开(公告)日：2011-03-08
申请号：KR1020090081158
申请日：2009-08-31
Applicant: 전자부품연구원
Abstract: PURPOSE: A robot joint and a control method thereof are provided to apply flexibility to the joint by measuring the power of the joint using a sensor. CONSTITUTION: A robot joint comprises a joint mechanism unit, a redundant joint mechanism unit, and a controller. The joint mechanism unit performs the joint motion of a robot arm. The redundant joint mechanism unit is installed in the joint mechanism unit. A spring mechanism(210) and an MR brake(220) are formed in the joint mechanism unit in an opposite direction of a direction in which a load is applied. The controller controls the rigidity of the MR brake.
Abstract translation: 目的：提供一种机器人接头及其控制方法，通过使用传感器测量接头的功率来对接头施加柔性。 构成：机器人接头包括接头机构单元，冗余接头机构单元和控制器。 关节机构单元执行机器人手臂的关节运动。 冗余关节机构单元安装在关节机构单元中。 弹簧机构（210）和MR制动器（220）在接合机构单元中沿与施加负载的方向相反的方向形成。 控制器控制MR制动器的刚度。
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Patent Agency Ranking
公开(公告)号：KR1020100002479A
公开(公告)日：2010-01-07
申请号：KR1020080062384
申请日：2008-06-30
Applicant: 전자부품연구원
IPC: H02P23/14
CPC classification number: H02P23/14 , H02P23/0022 , H02P23/0077
Abstract: PURPOSE: A motor controller with an automatic gain compensation function and a control method thereof are provided to drive a motor precisely by controlling a gain value according to an operation mode selected by a user. CONSTITUTION: A motor(100) generates the rotation power. An encoder(110) detects the rotation value of the motor. A subtracter(120) subtracts the rotation value from the command value. A driving signal output unit(130) outputs the driving signal to the motor by controlling the gain of the output signal of the subtracter. A load amount detector(140) detects the load amount of the motor. A gain controller(150) outputs a gain value of an operation mode to the driving signal output unit according to the mode selection signal. A storage controller(160) constructs database of the command value, the gain value, the error value, and the load amount.
Abstract translation: 目的：提供具有自动增益补偿功能的电动机控制器及其控制方法，通过根据用户选择的操作模式控制增益值来精确地驱动电动机。 构成：电动机（100）产生旋转动力。 编码器（110）检测电动机的旋转值。 减法器（120）从命令值中减去旋转值。 驱动信号输出单元（130）通过控制减法器的输出信号的增益将驱动信号输出到电动机。 负载量检测器（140）检测电动机的负载量。 增益控制器（150）根据模式选择信号向驱动信号输出单元输出操作模式的增益值。 存储控制器（160）构建命令值，增益值，误差值和负载量的数据库。
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公开(公告)号：KR100906991B1
公开(公告)日：2009-07-10
申请号：KR1020070113173
申请日：2007-11-07
Applicant: 전자부품연구원
Abstract: 본 발명은 로봇의 비시인성 장애물 탐지 방법에 관한 것으로서, 제 1 위치에서 전방의 물체를 촬영한 영상 이미지로부터 특징점을 추출하고, 추출한 특징점의 영상 좌표값과 3차원 좌표값을 구한 이후에, 로봇을 일정 거리 이동 및 회전시킨 제 2 위치에서 예상되는 특징점의 영상 좌표값을 구하며, 로봇을 실제 이동 및 회전한 제 2 위치에서 전방의 물체를 촬영한 영상 이미지로부터 특징점을 추출하여 그 영상 좌표값을 구한 다음, 제 2 위치에서 예상되는 특징점의 영상 좌표값과 로봇을 실제로 이동 및 회전한 제 2 위치에서의 해당 특징점의 영상 좌표값을 비교하여 비시인성 장애물의 존재 여부를 탐지하는 것을 특징으로 한다.
본 발명에 의하면 로봇의 전방에 유리창, 모기장, 투명 아크릴판과 같은 비시인성(非視認性) 장애물이 존재하는 경우에도, 장애물을 판단할 수 있어 로봇의 자율 주행 성능을 향상시킬 수 있으며, 이를 통해 정확한 환경 지도를 작성할 수 있다.
비시인성, 장애물, TOF 카메라, 특징점, 좌표-
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公开(公告)号：KR101266326B1
公开(公告)日：2013-05-22
申请号：KR1020110143358
申请日：2011-12-27
Applicant: 전자부품연구원
CPC classification number: G08G1/0104 , G06T7/00 , G08G1/017 , G08G1/04
Abstract: PURPOSE: An accident recognizing apparatus and an accident recognizing method thereof are provided to improve an accident recognition rate by integrating sound information with video information. CONSTITUTION: An accident sound information extracting unit extracts accident sound information from collected sound information. An object video information extracting unit extracts object video information from collected video information. An object checking unit(123) extracts accident object video information. A mapping unit(124) maps the accident object video information. An accident determining unit(125) determines an accident through the information. [Reference numerals] (121) Accident sound information extraction unit; (122) Object image information extraction unit; (123) Object checking unit; (124) Mapping unit; (125) Accident determining unit; (AA) Accident sound information; (BB) Accident object image information
Abstract translation: 目的：提供一种意外识别装置及其意外识别方法，通过将声音信息与视频信息进行集成来提高事故识别率。 规定：意外声音信息提取单元从收集的声音信息中提取事件声音信息。 对象视频信息提取单元从收集的视频信息中提取对象视频信息。 对象检查单元（123）提取事件对象视频信息。 映射单元（124）映射事故对象视频信息。 事故判定单元（125）通过信息确定事故。 （附图标记）（121）事故声音信息提取单元; （122）对象图像信息提取单元; （123）对象检查单元; （124）映射单元; （125）事故判定单位; （AA）事故声音信息; （BB）事故对象图像信息
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