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公开(公告)号：KR1020100094909A
公开(公告)日：2010-08-27
申请号：KR1020090014103
申请日：2009-02-19
Applicant: 전북대학교산학협력단 , (주)센소프트
CPC classification number: A63B47/021 , A63B2047/022 , A63B2102/32
Abstract: PURPOSE: A robot system which automatically collects golf balls is provided to prevent troublesome collection of each ball. CONSTITUTION: A robot(10) which collects golf balls comprises: a driving unit which drives golf field(5) and green(7); a receiving case for containing collected golf balls; a receiving unit which receives control signal of the driving unit; and a driving portion which is able to control driving of the collection unit and driving unit.
Abstract translation: 目的：提供自动收集高尔夫球的机器人系统，以防止每个球的麻烦收集。 构成：收集高尔夫球的机器人（10）包括：驱动高尔夫球场（5）和绿色（7）的驱动单元; 用于收纳高尔夫球的接收箱; 接收单元，其接收所述驱动单元的控制信号; 以及能够控制收集单元和驱动单元的驱动的驱动部。
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公开(公告)号：KR1020100031234A
公开(公告)日：2010-03-22
申请号：KR1020080090224
申请日：2008-09-12
Applicant: 전북대학교산학협력단 , 구칠효
Abstract: PURPOSE: A code map and a method for detecting the location of a robot using the same are provided to easily calculate a relative position by including peripheral codes which instructs a constant location based on a code. CONSTITUTION: A vector between a location before a mobile robot moves and a location after the mobile robot moves is calculated in order to determine the location of mobile robot after the movement. A code map includes a land mark which is installed on a ceiling. The land mark includes nine numbers of 0 to 8 as location codes. Based on the location codes, 3x3 location codes are displayed with different numbers from 0 to 8.
Abstract translation: 目的：提供用于检测使用其的机器人的位置的代码图和方法，以通过包括基于代码指示恒定位置的外围代码来容易地计算相对位置。 构成：计算移动机器人移动前的位置与移动机器人移动后的位置之间的矢量，以确定移动机器人移动后的位置。 代码图包括安装在天花板上的地标。 地标包含9个数字，0至8位作为位置代码。 根据位置代码，显示3x3位置代码，其数字从0到8不同。
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公开(公告)号：KR1020090091947A
公开(公告)日：2009-08-31
申请号：KR1020080017178
申请日：2008-02-26
Applicant: 전북대학교산학협력단
Inventor： 김형석
CPC classification number: A01B69/008 , B25J5/02 , A01D90/00
Abstract: An agricultural machine transport robot system is provided, which enables to do the farm work on the crops bed without damaging the crops. An agricultural machine transport robot system comprises: a first robot(110) installed at one side of the crops bed; a second robot(150) installed at the other side of the crops bed while wirelessly communicating with the first robot; a link(140) which connects the first robot and the second robot and in which the agricultural machine(130) for the farm work is mounted; and a running line for guiding movement of the first robot and second robot. The first robot and the second robot are connected by a link and a revolution joint(120).
Abstract translation: 提供农机运输机器人系统，能够在农作物床上进行农作，而不损害农作物。 农业机器运输机器人系统包括：安装在作物床一侧的第一机器人（110） 第二机器人（150），安装在作物床的另一侧，同时与第一机器人无线通信; 连接第一机器人和第二机器人的连杆（140），其中安装农场用农业机械（130）; 以及用于引导第一机器人和第二机器人的运动的行进线。 第一机器人和第二机器人通过连杆和旋转接头连接（120）。
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公开(公告)号：KR1020080056885A
公开(公告)日：2008-06-24
申请号：KR1020060130012
申请日：2006-12-19
Applicant: 전북대학교산학협력단
Inventor： 김형석
CPC classification number: G06K19/06 , B25J9/10 , G06K19/07713
Abstract: A multi-signal position indicator and an automatic agricultural robot navigation method using the same are provided to enable an agricultural robot to move automatically by installing the position indicator for indicating a position of plants and enabling the agricultural robot visiting again the position indicator to utilize relative position information stored when the position indicator is installed. A multi-signal position indicator has a pentagonal plate shape combing a triangle to one side of a rectangle. A top cortex of the triangle is a position pointer(1), and a magnetic signal unit(2) for detecting a position of the multi-signal position indicator is installed to the bottom of the position pointer and is discriminated by using different colors. An RFID(Radio Frequency IDentification) tag(5) is installed under the magnetic signal unit and a barcode(3) for recognizing an ID number(6) of the multi-signal position indicator is printed under the RFID tag. The ID number of the multi-signal position indicator and a direction maker(4) for displaying a direction of next plant are printed to a lower part of the multi-signal position indicator.
Abstract translation: 提供了一种多信号位置指示器和使用该多信号位置指示器的自动农业机器人导航方法，使得农业机器人能够通过安装用于指示植物位置的位置指示器来自动移动，并且使农业机器人再次访问位置指示器以利用相对 安装位置指示器时存储的位置信息。 多信号位置指示器具有将三角形组合成矩形的一侧的五边形板形状。 三角形的顶层皮层是位置指针（1），并且用于检测多信号位置指示器的位置的磁信号单元（2）安装在位置指示器的底部，并且通过使用不同的颜色进行区分。 将RFID（射频识别）标签（5）安装在磁信号单元下方，并且用于识别多信号位置指示器的ID号（6）的条形码（3）被打印在RFID标签下。 多信号位置指示器的ID号和用于显示下一个工厂的方向的方向制造器（4）被打印到多信号位置指示器的下部。
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Patent Agency Ranking
公开(公告)号：KR101863454B1
公开(公告)日：2018-05-31
申请号：KR1020160148545
申请日：2016-11-09
Applicant: 전북대학교산학협력단
Abstract: 본발명은기존의직렬충전방식에서발생하기쉬운배터리셀 간의전압불균형을해소하기위한것으로, 주충전장치에의해배터리전체를직렬충전하는동안전압충전상태가불량한셀들을찾아따로구비한보조충전장치를주 충전장치와동시에접속하여주 충전과보충충전을병행하게함으로써셀들간의전압이균일한충전전압상태를유지하게하기위한배터리균일충전기술에관한것이다. 본발명은직렬연결된복수의배터리셀들에직렬연결되어배터리셀들을일괄충전하는주 충전장치와; 주충전장치가직렬방식으로배터리셀들을일괄충전하는동안충전상태가불량한셀을찾아, 이에추가접속하여보조충전을수행하며, 충전이불량한셀의전압이다른셀들의평균전압에이르면접속을끊고, 다시충전상태가불량한다른셀을찾아보조충전을반복하도록구비한보조충전장치와; 주정류기전압, 보조정류기의전압, 각셀들의전압을상시적으로측정할수 있게하는전압측정용개별전압측정회로들과; 주충전장치와보조충전장치에서인가되는전류량을측정할수 있게하는전류측정회로들과; 각셀들의전압을비교하여충전불량셀을선정하고보조충전장치를충전불량셀에접속하도록명령을하며, 전체시스템을통제제어하는주 제어기와; 보조충전장치를통제제어하는보조제어기와; 직렬연결된셀을임으로선택하여보조충전장치를접속하거나분리할수 있게하는릴레이시스템으로구성됨을특징으로한다. 또, 주충전장치와보조충전장치에는코일로부터공급된전류를전자스위치에의해듀티제어하여대용량콘덴서에일시저장후 배터리에안정적으로전압을공급하게하는 DC-DC 변환회로를포함하는것을특징으로한다. 특히, 상기의보조충전장치는주 충전장치가충전하는동안, 충전이가장불량한셀을선택하여보충충전하고, 그셀의전압이다른셀의평균전압에이르면이 셀과의연결을단절한후 다시다른셀을골라보충충전을반복하므로, 보조충전장치는한 세트를이용하여모든셀들의보조충전에공통으로활용됨을특징으로한다.
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公开(公告)号：KR1020180051786A
公开(公告)日：2018-05-17
申请号：KR1020160148545
申请日：2016-11-09
Applicant: 전북대학교산학협력단
CPC classification number: H02J7/0019 , H01M2010/4271
Abstract: 본발명은기존의직렬충전방식에서발생하기쉬운배터리셀 간의전압불균형을해소하기위한것으로, 주충전장치에의해배터리전체를직렬충전하는동안전압충전상태가불량한셀들을찾아따로구비한보조충전장치를주 충전장치와동시에접속하여주 충전과보충충전을병행하게함으로써셀들간의전압이균일한충전전압상태를유지하게하기위한배터리균일충전기술에관한것이다. 본발명은직렬연결된복수의배터리셀들에직렬연결되어배터리셀들을일괄충전하는주 충전장치와; 주충전장치가직렬방식으로배터리셀들을일괄충전하는동안충전상태가불량한셀을찾아, 이에추가접속하여보조충전을수행하며, 충전이불량한셀의전압이다른셀들의평균전압에이르면접속을끊고, 다시충전상태가불량한다른셀을찾아보조충전을반복하도록구비한보조충전장치와; 주정류기전압, 보조정류기의전압, 각셀들의전압을상시적으로측정할수 있게하는전압측정용개별전압측정회로들과; 주충전장치와보조충전장치에서인가되는전류량을측정할수 있게하는전류측정회로들과; 각셀들의전압을비교하여충전불량셀을선정하고보조충전장치를충전불량셀에접속하도록명령을하며, 전체시스템을통제제어하는주 제어기와; 보조충전장치를통제제어하는보조제어기와; 직렬연결된셀을임으로선택하여보조충전장치를접속하거나분리할수 있게하는릴레이시스템으로구성됨을특징으로한다. 또, 주충전장치와보조충전장치에는코일로부터공급된전류를전자스위치에의해듀티제어하여대용량콘덴서에일시저장후 배터리에안정적으로전압을공급하게하는 DC-DC 변환회로를포함하는것을특징으로한다. 특히, 상기의보조충전장치는주 충전장치가충전하는동안, 충전이가장불량한셀을선택하여보충충전하고, 그셀의전압이다른셀의평균전압에이르면이 셀과의연결을단절한후 다시다른셀을골라보충충전을반복하므로, 보조충전장치는한 세트를이용하여모든셀들의보조충전에공통으로활용됨을특징으로한다.
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公开(公告)号：KR1020130116535A
公开(公告)日：2013-10-24
申请号：KR1020120038970
申请日：2012-04-16
Applicant: 전북대학교산학협력단
Inventor： 김형석
IPC: G11C13/00
CPC classification number: G11C13/003 , G11C13/0007 , G11C13/004 , G11C2013/0042 , G11C2013/0045 , G11C2213/74 , G11C2213/76 , G11C2213/79 , G11C13/0002 , G11C5/063 , G11C13/0004 , G11C13/0069
Abstract: PURPOSE: A memristor-based memory circuit reading a memristor resistance value without a variation of the memristor resistance value by using a capacitor is provided to eliminate the variation of a memristor resistance value by enabling the amount of total charges passing through a memristor in the forward direction to be equal to the amount of total charges passing through the memristor in the backward direction due to capacitor discharge. CONSTITUTION: A second switch (130) is connected with a memristor (M) in series. A third switch (160) is connected with a capacitor (C) in parallel and provides a path to enable a current to be discharged to the ground through the second switch and the memristor when a strong input current pulse for storing a resistance value is applied to the memristor. A differential amplifier (170) measures a voltage across the memristor generated by the current of a current source. A first switch (120) provides a path to enable a current to be discharged to the ground, after the current is stored in the capacitor, through the memristor and then through the second switch in the backward direction compared to the direction when the current was being stored.
Abstract translation: 目的：提供一种基于忆阻器的存储器电路，通过使用电容器来读取忆阻器电阻值而不改变忆阻器电阻值，以通过使前进中的忆阻器的总电荷量达到消除忆阻电阻值的变化 方向等于由于电容器放电而在反向方向上通过忆阻器的总电荷量。 构成：第二开关（130）与忆阻器（M）串联连接。 第三开关（160）与电容器（C）并联连接，并且当施加用于存储电阻值的强输入电流脉冲时，提供通过第二开关和忆阻器将电流放电到地的路径 到忆阻器。 差分放大器（170）测量由电流源的电流产生的忆阻器两端的电压。 第一开关（120）提供了一个路径，以便在电流被存储在电容器中之后，通过忆阻器将电流放电到地面，然后通过第二开关沿向后方向与当前电流方向相比放电 被存储
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公开(公告)号：KR1020130022918A
公开(公告)日：2013-03-07
申请号：KR1020110085958
申请日：2011-08-26
Applicant: 전북대학교산학협력단 , (주)센소프트
CPC classification number: A47L9/2805 , A47L2201/04
Abstract: PURPOSE: A self-control movement method of a cleaning robot using repetitive image patterns around a workplace is provided to predict location information using a sum vector in which an optical flow is accumulated in a video frame. CONSTITUTION: A self-control movement method of a cleaning robot using repetitive image patterns around a workplace comprises; a step of receiving repetitive image patterns by installing a camera to the direction of the repetitive image around a workplace at the center of the cleaning robot and a step of calculating the angle with respect to a Y axis from a standard starting point of the cleaning robot at the workplace and set of angles. [Reference numerals] (AA) Initializing a robot imaging device; (BB) Processing a ceiling image with repetitive patterns; (CC) Straight lines are extracted?; (DD) Calculating the direction of a robot; (EE) Calculating the direction using an optical flow; (FF) Crossing point of the straight lines is extracted?; (GG) Calculating the position of the robot; (HH) Calculating the position using an optical flow; (II) Using the position/direction
Abstract translation: 目的：提供使用工作场所周围的重复图像图案的清洁机器人的自我控制运动方法，以使用在视频帧中积累光流的和矢量来预测位置信息。 构成：在工作场所周围使用重复图像模式的清洁机器人的自我控制运动方法包括： 通过将相机安装在清洁机器人的中心的工作场所周围的重复图像的方向上来接收重复图像图案的步骤，以及从清洁机器人的标准起点计算相对于Y轴的角度的步骤 在工作场所和一套角度。 （附图标记）（AA）初始化机器人成像装置; （BB）用重复图案处理天花板图像; （CC）提取直线？ （DD）计算机器人的方向; （EE）使用光流计算方向; （FF）提取直线的交叉点？ （GG）计算机器人的位置; （HH）使用光流计算位置; （II）使用位置/方向
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公开(公告)号：KR101127657B1
公开(公告)日：2012-03-23
申请号：KR1020090014103
申请日：2009-02-19
Applicant: 전북대학교산학협력단 , (주)센소프트
Abstract: 본 발명은 골프공 자동회수 로봇 시스템에 관한 것으로써, 더욱 상세하게는 골프연습장의 그린을 주행하는 주행부와, 상기 주행부에 의해 골프연습장의 그린을 주행하고 있는 상태에서 골프연습장에 놓인 골프공을 수거하는 수거부와, 상기 수거부가 수거한 골프공을 내부에 수용하는 수용통과, 상기 주행부의 제어신호를 수신하는 수신부와, 상기 수신부가 수신한 제어신호에 따라 상기 주행부와 수거부의 구동을 제어하는 구동부로 이루어지는 골프공 수거로봇과; 골프연습장의 그린상에 놓인 상기 골프공 수거로봇의 위치를 측정하는 로봇위치 측정부와; 상기 골프공 수거로봇의 주행부가 주행할 주행경로를 설정하는 경로설정부와, 상기 경로설정부에 의해 설정된 주행경로로 이루어진 제어신호를 상기 골프공 수거로봇의 수신부로 송신하는 송신부로 이루어지는 로봇 조종부;를 포함하여 구성되는 것을 특징으로 하는 골프공 자동회수 로봇 시스템에 관한 것이다.
이와 같이 구성된 본 발명은 골프공 수거로봇이 골프연습장에 놓인 골프공을 수거하기 때문에 골프연습장에 놓인 골프공을 보다 효율적으로 수거할 수 있음은 물론 종래처럼 작업자가 직접 골프연습장에 놓인 골프공을 번거롭게 일일이 수거할 필요가 없어지게 되는 효과가 있다.
골프공 수거로봇, 로봇위치 측정부, 로봇 조종부
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