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公开(公告)号：KR101268523B1
公开(公告)日：2013-05-28
申请号：KR1020120027835
申请日：2012-03-19
Applicant: 한국과학기술원
CPC classification number: G06K9/00637 , G02B26/123 , G06K9/6234
Abstract: PURPOSE: A fast scene understanding method in an urban environment using a laser scanner is provided to rapidly classify three-dimensional point cloud data, thereby generating a map which a robot can easily recognize. CONSTITUTION: A sensor sequentially obtains point cloud data about an environment(S10). A computer classifies the cloud data into a horizontal type, a vertical type, and a slope type according to the characteristics of points(S20). The computer detects or eliminates the points among the horizontal type point clouds corresponding to the ground surface(S30). The computer performs object segmentation of the point clouds corresponding to each object(S40). The computer performs object classification to classify the each segmented object as a specific object(S50). [Reference numerals] (AA) Start; (BB) Drawing a map; (S10) Obtaining continuous point cloud data; (S20) Classify continuous point clouds; (S30) Detect and remove ground surface; (S40) Divide objects; (S50) Classify the objects
Abstract translation: 目的：提供一种使用激光扫描仪的城市环境中的快速现场理解方法，以快速分类三维点云数据，从而生成机器人可以轻松识别的地图。 构成：传感器依次获得有关环境的点云数据（S10）。 计算机根据点的特征将云数据分类为水平型，垂直型和斜率类型（S20）。 计算机检测或消除对应于地面的水平型点云中的点（S30）。 计算机执行对应于每个对象的点云的对象分割（S40）。 计算机执行对象分类以将每个分割的对象分类为特定对象（S50）。 （附图标记）（AA）开始; （BB）绘制地图; （S10）获取连续点云数据; （S20）连续点云分类; （S30）检测并清除地面; （S40）划分物体; （S50）分类对象
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公开(公告)号：KR100360840B1
公开(公告)日：2002-11-13
申请号：KR1020000042251
申请日：2000-07-22
Applicant: 한국과학기술원
IPC: B25J9/10
Abstract: 로봇의 전방향 이동장치에 관한 것으로, 베이스(50)와; 상기 베이스(50)에는 서로 대향되게 축설된 한쌍의 좌,우측 바퀴(27,37)와, 이 좌,우측 바퀴(27,37)의 중앙라인상에 배치된 보조바퀴(40)를 구비하되, 상기 좌,우측 바퀴(27,37)가 상기 베이스(50)에 축설된 한쌍의 좌,우측 종동기어(23,33)로부터 각기 동력을 전달받도록 구성하고; 상기 베이스(50)상에 입설된 주축(80)과; 상기 주축(80)에 선회가능하게 장착된 회전체(60)와; 상기 회전체(60)에 탑재된 회전체구동용 모터(10), 좌측바퀴 구동용 모터(20) 및 우측바퀴 구동용 모터(30)와; 상기 주축(80)에 일체된 고정기어(12)와, 상기 주축(80)에 회전자재되게 설치되고 상기 좌,우측구동용 모터(20,30)의 출력을 각기 상기 좌,우측 종동기어(23,33)에 전달하는 좌,우측구동용 중간기어(22,32)를 포함한 것을 특징으로 한다.
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公开(公告)号：KR1020020008561A
公开(公告)日：2002-01-31
申请号：KR1020000042251
申请日：2000-07-22
Applicant: 한국과학기술원
IPC: B25J9/10
Abstract: PURPOSE: An omnidirectional carrier of a robot is provided to optionally control the velocity element toward axes X and Y to an absolute coordinate axis fixed on a two-dimensional planar face and to control the angular velocity of a robot body by placing the robot body on the central point of the robot spaced apart from the center shaft of a wheel. CONSTITUTION: An omnidirectional carrier of a robot comprises a base(50), a main shaft(80) uprightly installed on the base, a rotor(60) rotatably installed on the main shaft, motors(10,20,30) for rotating the rotor, a left wheel and a right wheel, and left and right side driving intermediate gears(22,32). Left and right wheels are installed on the base symmetric to each other, and an auxiliary wheel is placed on the central line of the wheels. The left and right wheels receive power from left and right driven gears(23,33) axially installed on the base. The left and right intermediate gears transmit the output of a fixed gear and the left and right side driving gears to the left and right driven gears. As omnidirectional characteristic is secured, the carrier is used in the industrial spots needing the movement of heavy-weighted objects.
Abstract translation: 目的：提供机器人的全向载体，以便可选地将速度元件朝向轴X和Y控制到固定在二维平面上的绝对坐标轴，并通过将机器人主体放置在其上来控制机器人主体的角速度 机器人的中心点与车轮的中心轴间隔开。 构成：机器人的全方位载体包括基座（50），竖直地安装在基座上的主轴（80），可旋转地安装在主轴上的转子（60），用于使 转子，左轮和右轮以及左右驱动中间齿轮（22,32）。 左右车轮安装在基座上对称，辅助车轮放置在车轮的中心线上。 左右轮从轴向安装在基座上的左右从动齿轮（23,33）接收动力。 左右中间齿轮将固定齿轮和左右驱动齿轮的输出传递到左右从动齿轮。 由于确保了全方位特性，所以载体需要在需要重载物体运动的工业场合使用。
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公开(公告)号：KR1020010090409A
公开(公告)日：2001-10-18
申请号：KR1020000015370
申请日：2000-03-25
Applicant: 한국과학기술원
IPC: G06F9/44
Abstract: PURPOSE: A program for developing a strategy of a robot soccer is provided to enable a user to develop a robot soccer strategy by inputting a simple operation without a direct programming. CONSTITUTION: A vision program is activated in a computer(S100). The activated vision program activates a strategy developing tool window of a strategy developing program by pressing a button(S120). The strategy developing tool window selects a new strategy preparation or a strategy editing operation(S130). If the strategy editing operation is selected, an editing object strategy is selected(S150). An offence mode or a defense mode is set(S160). A robot to be excluded from the strategy is set(S170). A position of a robot and a forecasted position of the opponent robot are set, and a movement of the robot is designated(S180). An important rate of a prepared or an edited strategy is set(S190). An applied time of the prepared or the edited strategy is set as the unit of a second(S200). The operation is terminated and stored(S210, S220).
Abstract translation: 目的：提供一种开发机器人足球战略的程序，使用户能够通过在没有直接编程的情况下输入简单的操作来开发机器人足球策略。 构成：在计算机中激活视觉程序（S100）。 激活的视觉程序通过按下按钮激活策略开发程序的策略开发工具窗口（S120）。 战略开发工具窗口选择新的策略准备或策略编辑操作（S130）。 如果选择了策略编辑操作，则选择编辑对象策略（S150）。 设定进攻模式或防守模式（S160）。 设定要排除策略的机器人（S170）。 设置机器人的位置和对方机器人的预测位置，并指定机器人的移动（S180）。 设定准备或编辑策略的重要比率（S190）。 所准备的或编辑的策略的应用时间被设置为秒的单位（S200）。 操作终止并存储（S210，S220）。
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公开(公告)号：KR1020000051245A
公开(公告)日：2000-08-16
申请号：KR1019990001575
申请日：1999-01-20
Applicant: 한국과학기술원
IPC: B25J13/04
Abstract: PURPOSE: An omni-directional mobile robot having the lower part of two wheels mobile robot mechanism is provided which uses only three driving gear for moving a robot to omni-direction. CONSTITUTION: An omni-directional mobile robot having the lower part of two wheels mobile robot mechanism comprises : the upper part(70) to include a case of upper part(90) forming a central treatment device, a memorial device, a switch, and a motor for connector for driving of circular type surface(50) for driving a robot ; a connector of circular type surface(60) connected with the upper part(70) by a connecting terminal(100) and revolved on a rotary axis(15) by a motor(50) ; the lower part(80) to include a case of lower part(25) forming a right and a left wheels(10, 20) equipped on the both side of the base(5), and driving motors(30, 40) driving a right and a left wheels(10, 20).
Abstract translation: 目的：提供一种全方位移动机器人，其具有两轮可移动机器人机构的下部，其仅使用三个驱动齿轮将机器人移动到全向。 构成：具有两轮可移动机器人机构的下部的全向移动机器人包括：上部（70），其包括形成中央处理装置的上部（90）的壳体，纪念装置，开关和 用于驱动用于驱动机器人的圆形表面（50）的连接器用电动机; 通过连接端子（100）与所述上部（70）连接并通过马达（50）在旋转轴线（15）上旋转的圆形表面（60）的连接器; 下部（80）包括形成右侧的下部（25）和设置在基座（5）的两侧的左侧车轮（10,20）的壳体和驱动马达（30,40）的驱动马达 右和左轮（10,20）。
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Patent Agency Ranking
公开(公告)号：KR101454692B1
公开(公告)日：2014-10-27
申请号：KR1020130141326
申请日：2013-11-20
Applicant: 한국과학기술원
CPC classification number: G06T7/246 , G06K9/4609 , G06K9/527 , G06K9/6219
Abstract: An embodiment of the present invention relates to an apparatus and a method for tracing an object. The method for tracking an object according to an embodiment of the present invention includes the steps of: receiving a plurality of images; detecting corner feature points of the images; forming a plurality of integral images for the images, respectively; forming a plurality of patches having mutually different scales around the corner feature points with respect to the integral images; dividing the patches into a plurality of lower level regions and creating descriptors for the lower level regions, respectively; and matching the images with the descriptors.
Abstract translation: 本发明的实施例涉及用于跟踪对象的装置和方法。 根据本发明的实施例的跟踪对象的方法包括以下步骤：接收多个图像; 检测图像的角特征点; 分别形成图像的多个整体图像; 形成围绕所述整体图像的角特征点具有相互不同的刻度的多个贴片; 将所述贴片分成多个较低级别的区域，并分别为所述较低级别区域创建描述符; 并将图像与描述符进行匹配。
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公开(公告)号：KR101445700B1
公开(公告)日：2014-10-01
申请号：KR1020130029395
申请日：2013-03-19
Applicant: 한국과학기술원
Abstract: 본 발명에 따른 로봇 제스처 생성장치의 일 실시예는, 로봇이 발화(發話)하는 발화문장, 상기 발화문장이 표현하는 감정을 정의하는 감정파라미터 및 발화시간을 입력받고, 상기 발화문장, 상기 감정파라미터 및 상기 발화시간에 대응하는 제스처(gesture)신호를 생성하는 제스처신호 생성부; 상기 발화문장을 입력받아 상기 로봇이 발화하는 음성신호를 생성하는 음성신호 생성부; 및 상기 제스처신호 및 상기 음성신호를 입력받아 상기 로봇의 발화와 상기 제스처를 동기화하는 동기화모듈을 포함할 수 있다.
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公开(公告)号：KR101220527B1
公开(公告)日：2013-01-21
申请号：KR1020110018502
申请日：2011-03-02
Applicant: 한국과학기술원
Abstract: 본 발명은 거리 측정 센서, 카메라 센서, GPS 수신부, 자세측정장치 상기 각 센서들을 제어하는 프로그램이 저장된 중앙 처리 제어부를 포함하고, 2차원 거리 측정 센서로부터의 거리 데이터와 카메라 센서로부터의 색 데이터를 융합하여 점군 데이터(Point Cloud Data, PCD)를 수득하고, GPS 및 자세측정장치로부터 이동체의 자세 데이터를 수득하여 2차원 센서로 3차원 환경을 복원할 수 있는 센서 시스템, 및 이를 이용하는 환경 지도 작성 시스템 및 방법에 관한 것이다.
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公开(公告)号：KR1020050012465A
公开(公告)日：2005-02-02
申请号：KR1020030051441
申请日：2003-07-25
Applicant: 한국과학기술원
IPC: B25J19/04
Abstract: PURPOSE: A robot eyeball apparatus using a swash plate is provided to enable a robot eyeball to reproduce the motion of a human's eyeball by introducing the swash plate to a mechanism part of the robot eyeball. CONSTITUTION: A robot eyeball apparatus using a swash plate(21) includes an artificial vision device comprising a camera(20) and the swash plate having a universal joint characteristic; a fixed shaft(22) fitted to the swash plate and the camera to prevent distortion of the swash plate; and an artificial muscle device comprising motors(30A,30B,31A,31B,32A,32B) driving the swash plate, and links(40A,40B,41A,41B,42A,42B) interconnecting the motor and the swash plate.
Abstract translation: 目的：提供使用斜盘的机器人眼球装置，以使机器人眼球通过将旋转斜盘引入机器人眼球的机构部分来再现人眼的运动。 构成：使用斜盘（21）的机器人眼球装置包括人造视觉装置，其包括相机（20）和具有万向接头特征的斜盘; 安装在旋转斜盘和相机上的固定轴（22），以防止斜盘变形; 以及包括驱动斜板的马达（30A，30B，31A，31B，32A，32B）以及将马达和斜盘互连的连杆（40A，40B，41A，41B，42A，42B）的人造肌肉装置。
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公开(公告)号：KR100299622B1
公开(公告)日：2001-09-22
申请号：KR1019990001575
申请日：1999-01-20
Applicant: 한국과학기술원
IPC: B25J13/04
Abstract: 2개의바퀴에의해 X축및 Y축으로임의제어되게한 하체부와, 이하체부의상부에바퀴의중심선상에서오프셋된위치에회전축으로연결한상부베이스로구성되어, 주몸체인상부베이스가독립적으로직선속도및 각속도제어를할 수있도록하기위하여; 방향전환바퀴를일측에설치한하부베이스의일측에배치되는제1바퀴와, 상기제1바퀴의중심축선과일치하게타측에배치되는제2바퀴와, 상기제1바퀴를독립적으로구동제어하게하부베이스일측에설치된제1모타와, 상기제2바퀴를독립적으로구동제어하게하부베이스의타측에설치된제2모타와, 상기하부베이스의제1,2바퀴를연결하는중심축선상의중심에서일정거리만큼이격된위치에고정되어일정높이로기립설치된회전축과, 상기회전축상단에개재된베어링에의해지지설치된상부베이스상에고정설치되면서회전축과일체로조립되는제3모터와, 상기제1,2,3모터를기입력된데이터에의해제어하는전자제어장치를포함한구성으로이루어지는전방향이동로봇을제공하는데있다.
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