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公开(公告)号：KR101377247B1
公开(公告)日：2014-03-21
申请号：KR1020120062162
申请日：2012-06-11
Applicant: (주)언맨드솔루션
Abstract: 본발명은차량용변속제어시스템에관한것으로, 차량용변속제어시스템은주행, 후진, 중립, 주차를포함한자동변속모드가일측에마련되고, 직선이동에의해상기변속모드중 하나를선택할수 있도록구비된변속레버부; 상기변속레버부의일측에연결되고, 상기변속레버부의위치를전후방향으로이동시키는레버구동부; 상기변속레버부의위치가자동으로변경되도록동력을발생시켜상기레버구동부로전달하는구동모터부; 상기변속레버부의현재위치를모니터링하고, 상기레버구동부및 구동모터부의작동을제어하는레버제어부; 및상기레버제어부로부터상기변속레버부의현재위치에대한정보를실시간으로전달받으며, 상기변속레버부의위치변경을위한제어신호를상기레버제어부로전송하는변속제어부; 를포함하고, 외력에의해상기변속레버부의위치가변경될경우, 상기변속제어부는상기구동모터부로부터전기적신호를수신하고, 수동으로상기변속레버부를조작할수 있도록상기레버제어부를제어하여상기레버구동부및 구동모터부의작동을중지시키며, 그로인해차량의주행상태에따라변속레버의설정을자동으로변경시키는기술을제공한다. 본발명에의하면, 사람이직접변속레버부의설정을조작하지않아도차량의주행상태에따른자동변속이가능한효과가있다.
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公开(公告)号：KR1020130138463A
公开(公告)日：2013-12-19
申请号：KR1020120062065
申请日：2012-06-11
Applicant: (주)언맨드솔루션
CPC classification number: G05D1/0223 , G05D13/62 , G05D2201/0201
Abstract: The present invention relates to an autonomous driving control technology, in particular, an autonomous driving control system of an agricultural tractor, for the purpose the system includes: a transmission actuator for converting a shift gear of a tractor; an acceleration actuator for controlling the speed of the tractor; a wheel encoder for measuring the speed of the tractor; a control panel having a display panel for displaying a driving mode status, a switch for selecting a mode between autonomous driving or manual driving and an emergency stop button; a data storage unit for storing autonomous driving information in advance; and a control unit for comparing autonomous driving information stored in the data storage unit and a speed transmitted from the wheel encoder when the autonomous mode is selected in the control panel and controlling the transmission actuator and acceleration actuator to correspond to the autonomous driving information stored in the data storage unit. According to the present invention, work efficiency is able to be improved by making autonomous driving of an agricultural tractor possible. [Reference numerals] (2) Transmission actuator;(3) Acceleration actuator;(4) Wheel encoder;(5) Control panel;(7) Control unit
Abstract translation: 本发明涉及自主驾驶控制技术，特别涉及一种农用拖拉机的自主驾驶控制系统，该系统包括：用于转换拖拉机变速档的变速器致动器; 用于控制拖拉机速度的加速致动器; 用于测量拖拉机速度的轮编码器; 控制面板，具有用于显示驾驶模式状态的显示面板，用于选择自主驾驶或手动驾驶之间的模式的开关和紧急停止按钮; 预先存储自主驾驶信息的数据存储单元; 以及控制单元，用于当在控制面板中选择自主模式时，比较存储在数据存储单元中的自主驾驶信息和从车轮编码器发送的速度，并且控制传动致动器和加速致动器以对应于存储在自动驾驶信息中的自主驾驶信息 数据存储单元。 根据本发明，通过使农用拖拉机的自主驾驶成为可能，能够提高作业效率。 （附图标记）（2）传动执行器;（3）加速执行器;（4）车轮编码器;（5）控制面板;（7）控制单元
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公开(公告)号：KR101219648B1
公开(公告)日：2013-01-21
申请号：KR1020110031706
申请日：2011-04-06
Applicant: (주)언맨드솔루션
Abstract: 본 발명은 바퀴의 디스크 일측에 결합되는 베이스; 베이스의 일측에 회전 가능하게 구비되어 바퀴의 휠 일측에 접촉하여 휠의 회전에 따라 회전하는 롤러; 롤러의 회전 중심축에 구비된 회전축; 회전축에 연결되어 롤러의 회전을 측정하여 바퀴의 회전 속도 및 이동거리를 측정하는 엔코더; 베이스의 일측면에 회동 가능하도록 구비되어 일측 종단부가 베이스의 내부 일측에 삽입되는 지지부; 및 지지부의 베이스의 내부 일측에 삽입되는 부분에 구비되어 베이스가 일방향으로 탄성지지되도록 하는 탄성체;를 포함하는 것을 특징으로 하는 휠 스피드 센서를 구현한바, 탄성체가 베이스를 바퀴의 휠 방향으로 탄성 지지하고, 이에 따라 롤러가 휠에 밀착되어 바퀴의 속도 측정 및 이동거리를 정확하게 측정할 수 있는 효과가 있다. 또한, 탄성체가 탄성 지지함으로써 차량 운행중 차량의 흔들림 등과 같은 충격이 가해지더라도 롤러가 휠에서 이격됨이 없으므로 바퀴의 속도 측정 및 이동거리 측정의 오차 발생을 미연에 방지할 수 있다. 또한, 롤러가 휠과 접촉하여 회전함으로, 자석, 파형변화를 위한 파형회로 또는 발광소자와 같은 별도의 제품이 필요하지 않기 때문에, 제품의 구성이 간단함으로써 제품의 크기를 소형화 하고, 제조단가를 감소할 수 있는 효과가 있다.
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公开(公告)号：KR1020110070948A
公开(公告)日：2011-06-27
申请号：KR1020090127587
申请日：2009-12-19
CPC classification number: Y02T10/7005
Abstract: PURPOSE: A control mode converting system for an online electric vehicle is provided to perform the driving mode of a driver by changing the driving mode due to external force or contact according to the detection of an obstacle. CONSTITUTION: A driving device(120) charges electric energy generated by an electromagnetic field inputted from the outside in a storage battery. The driving device controls the driving of the online electric vehicle by using the charged electric energy. A control device(110) automatically controls the driving device on a feeding road which charges the storage battery. A mode switching device(130) operates the control device on the feeding road. The mode switching device stops the operation of the control device for manually controlling the driving device on the non-feeding road.
Abstract translation: 目的：提供一种用于在线电动车辆的控制模式转换系统，通过根据障碍物的检测改变由于外力或接触而引起的驾驶模式来执行驾驶员的驾驶模式。 构成：驱动装置（120）对由蓄电池中的外部输入的电磁场产生的电能进行充电。 驱动装置通过使用充电的电能来控制在线电动汽车的行驶。 控制装置（110）在对蓄电池充电的馈电道路上自动控制驱动装置。 模式切换装置（130）对进给道路上的控制装置进行操作。 模式切换装置停止用于手动控制非进给道路上的驱动装置的控制装置的操作。
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公开(公告)号：KR1020180081339A
公开(公告)日：2018-07-16
申请号：KR1020170002455
申请日：2017-01-06
Applicant: (주)언맨드솔루션
CPC classification number: F16H59/04 , B60W30/18018 , F16H2059/0282 , F16H2059/048
Abstract: 본발명은자율주행차량용변속제어시스템및 그작동방법에관한것이다. 본발명에따르면브레이크스위치가조작되었을때 발생하는브레이크신호를받아야변속레버에대한특정한일부의조작을허용하는제한기가브레이크신호를대신하는허용신호에의해서도변속레버에대한특정한일부의조작을허용한다. 따라서브레이크의조작이없이도변속레버에대한특정한일부의조작이자동으로이루어지기때문에운행상의편리함이향상된다.
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Patent Agency Ranking
公开(公告)号：KR1020140070129A
公开(公告)日：2014-06-10
申请号：KR1020120138232
申请日：2012-11-30
Applicant: (주)언맨드솔루션
Abstract: A traveling robot platform based on a vehicle according to the present invention is a platform for education or research to which a general main controller configuration can be easily applied to realize an intellectual robot system. The present invention is also called a differential skid steer platform because forward-traveling, backward-traveling, rotating, etc. can be performed using speed differentials of four wheels. The traveling robot platform based on a vehicle according to the present invention comprises: a power supply for supplying power to an electric driving module and a control device; a smart motor which operates by receiving power from the power supply and has a rotating shaft; wheels including wheel shafts which rotate by being individually connected to the smart motor; a brake which can perform electronic braking and hydraulic braking for the wheels; a motor-driven power steering system (MDPS) for controlling the wheels; and a main controller for controlling the MDPS and the brake, wherein the motor and the wheels are detachable modules which can be detached from each other and can be replaced.
Abstract translation: 根据本发明的基于车辆的旅行机器人平台是用于教育或研究的平台，可以容易地应用通用主控制器配置来实现智力机器人系统。 本发明也称为差速滑行转向平台，因为可以使用四个车轮的速度差来执行向前行进，后向行驶，旋转等。 根据本发明的基于车辆的行走机器人平台包括：向电驱动模块和控制装置供电的电源; 智能电动机，其通过从电源接收电力并具有旋转轴来操作; 轮子包括通过单独地连接到智能马达而旋转的轮轴; 可以对车轮执行电子制动和液压制动的制动器; 用于控制车轮的电动动力转向系统（MDPS）; 以及用于控制MDPS和制动器的主控制器，其中电动机和车轮是可拆卸的模块，其可以彼此分离并且可以被更换。
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公开(公告)号：KR101396924B1
公开(公告)日：2014-05-19
申请号：KR1020120122964
申请日：2012-11-01
Applicant: (주)언맨드솔루션
Abstract: 본 발명은 카메라를 이용한 차로폭 측정시스템에 관한 것으로써, 차량의 전방 영상이미지를 촬영하는 카메라부; 상기 카메라부에 의해 획득된 영상이미지를 전송받아 상기 영상이미지의 일정영역만을 추출하는 영역추출부; 상기 영역추출부로부터 추출된 영역에 좌표값 부여하는 좌표부여부; 상기 영역추출부로부터 추출된 영역의 영상이미지를 변환하는 영상변환부; 상기 영상변환부로부터 변환된 영상이미지를 분석하여 차선을 인식하는 차선인식부; 상기 카메라부, 상기 영역추출부, 상기 좌표부여부, 상기 영상변환부 및 상기 차선인식부를 제어하는 제어부; 를 포함하며, 상기 제어부는 차선인식부로부터 인식된 좌,우측 차선의 에지(edge)에 대응되는 상기 좌표부여부가 부여한 좌표값을 이용하여 차로폭을 측정한다.
본 발명에 따르면, 첫째, 차로 폭에 관한 정보를 수집하는데 있어서, 짧은 시간에 정확한 정보를 산출할 수 있어, 차로 폭 정보 수집을 위한 비용을 절감시키며, 카메라를 통해 획득한 영상정보의 변환과정을 거쳐, 차로 폭 측정 오차률을 줄여주며, 차로의 잠재적인 위험지역을 사전에 파악할 수 있어, 교통사고율을 감소시키며, 차로 폭에 대한 정확한 정보를 수집할 수 있어, 운전자의 안전주행을 돕는다.-
公开(公告)号：KR1020140055727A
公开(公告)日：2014-05-09
申请号：KR1020120122965
申请日：2012-11-01
Applicant: (주)언맨드솔루션
Abstract: The present invention relates to a road information collecting system using a scanner, comprising: a first scanner and a second scanner receiving an input of reflected laser light to collect road information around a vehicle; and a control unit for controlling the first scanner and the second scanner, wherein the control unit receives coordinate information of an input and output scanning pointer which is obtained, by which the first scanner and the second scanner irradiates the laser light at regular intervals towards a measurement target, to calculate the width of the road. According to the present invention, the road information collecting system is to calculate the accurate information in a short time to collect road information, thereby reducing costs for collecting the road information; to collect the accurate information on the width of the road, thereby enabling safe driving for drivers; and to grasp potential hazardous area on the road in advance, thereby reducing an accidents rate.
Abstract translation: 本发明涉及一种使用扫描仪的道路信息收集系统，包括：第一扫描仪和第二扫描器，其接收反射的激光的输入以收集车辆周围的道路信息; 以及控制单元，用于控制第一扫描仪和第二扫描器，其中控制单元接收获得的输入和输出扫描指针的坐标信息，通过该坐标信息，第一扫描仪和第二扫描仪以固定的间隔朝向 测量目标，计算道路的宽度。 根据本发明，道路信息收集系统是在短时间内计算准确的信息以收集道路信息，从而降低收集道路信息的成本; 收集关于道路宽度的准确信息，从而实现司机安全驾驶; 提前把握道路上的潜在危险区域，从而降低事故发生率。
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公开(公告)号：KR1020140055726A
公开(公告)日：2014-05-09
申请号：KR1020120122964
申请日：2012-11-01
Applicant: (주)언맨드솔루션
Abstract: The present invention relates to a lane width measuring system using a camera, which comprises: a camera unit which photographs an image of the front side of a vehicle; an area extracting unit which receives the image obtained by the camera unit in order to extract a certain area of the image; a coordinate issuing unit which issues a coordinate value to the area extracted by the area extracting unit; an image converting unit which converts the image of the area extracted by the area extracting unit; a lane recognizing unit which analyzes the images converted by the image converting unit in order to recognize a lane; and a control unit which controls the camera unit, the area extracting unit, the coordinate issuing unit, the coordinate issuing unit, the image converting unit, and the lane recognizing unit. The control unit measures the width of the lane using the coordinate value issued by the coordinate issuing unit corresponding to the edge of the left and right lane boundaries recognized by the lane recognizing unit. Therefore, the lane width measuring system can reduce costs for collecting lane width information by calculating accurate information in a short time, can reduce the error rate in measuring lane width through a conversion process for image information obtained by a camera, can reduce the car accident rate by identifying potentially dangerous areas in lanes in advance, and can help a driver in driving safely by collecting accurate information on lane width.
Abstract translation: 本发明涉及一种使用照相机的车道宽度测量系统，该系统包括：照相机单元，照相车辆前方的图像; 区域提取单元，其接收由相机单元获得的图像，以便提取图像的某个区域; 坐标发出单元，其向由所述区域提取单元提取的区域发出坐标值; 图像转换单元，其转换由所述区域提取单元提取的区域的图像; 车道识别单元，其分析由图像转换单元转换的图像，以识别车道; 以及控制摄像单元，区域提取单元，坐标发布单元，坐标发布单元，图像转换单元和车道识别单元的控制单元。 控制单元使用与由车道识别单元识别的左右车道边界的边缘对应的由坐标发布单元发出的坐标值来测量车道的宽度。 因此，车道宽度测量系统可以通过在短时间内计算准确的信息来降低收集车道宽度信息的成本，通过摄像机获取的图像信息的转换处理可以减少测量车道宽度的误差率，可以减少车祸 通过预先识别车道中的潜在危险区域，并通过收集车道宽度的准确信息来帮助司机安全驾驶。
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公开(公告)号：KR1020120113991A
公开(公告)日：2012-10-16
申请号：KR1020110031706
申请日：2011-04-06
Applicant: (주)언맨드솔루션
CPC classification number: G01P3/10 , G01P3/12 , G01P15/0802 , G01P2015/0805
Abstract: PURPOSE: A wheel speed sensor is provided to prevent the generation of an error by elastically supporting a base in a direction of a wheel and adhering a roller to the wheel. CONSTITUTION: A base(100) is combined with a side of a disc of a wheel. A roller(200) is rotated as a wheel is rotated. An encoder(300) is connected with a rotary shaft. The encoder measures a movement distance and a rotation speed of the wheel by measuring the rotation of the roller. An end of a side of a support unit(400) is inserted into a side in the base. An elastic object(500) elastically supports the base in a direction.
Abstract translation: 目的：提供一种车轮速度传感器，以通过沿车轮的方向弹性支撑底座并将车轮附着在车轮上来防止产生错误。 构成：底座（100）与车轮盘的一侧组合。 当轮转动时，辊（200）旋转。 编码器（300）与旋转轴连接。 编码器通过测量滚轮的旋转来测量车轮的移动距离和转速。 支撑单元（400）的一侧的端部插入基座的一侧。 弹性物体（500）沿一个方向弹性地支撑基座。
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