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公开(公告)号：KR101396923B1
公开(公告)日：2014-05-19
申请号：KR1020120122965
申请日：2012-11-01
Applicant: (주)언맨드솔루션
Abstract: 본 발명은 스캐너를 이용한 도로정보수집 시스템에 관한 것으로써, 반사된 레이저 광을 입력받아 차량 주위의 도로정보를 수집하는 제1, 2스캐너; 및 상기 제1스캐너와 상기 제2스캐너를 제어하는 제어부; 를 포함하며, 상기 제어부는 상기 제1, 2스캐너가 측정 대상을 향해 일정 간격으로 레이저 광을 조사하여 얻는 입출력 입출력 스캐닝 포인터의 좌표정보를 받아서 도로의 폭을 산출한다.
본 발명에 따르면, 도로정보 수집을 짧은 시간에 정확한 정보를 산출할 수 있어, 도로정보 수집을 위한 비용을 절감시키며, 도로 폭에 대한 정확한 정보를 수집할 수 있어, 운전자의 안전주행을 돕고, 도로의 잠재적인 위험지역을 사전에 파악할 수 있어, 운전사고율을 감소시킨다.-
公开(公告)号：KR101378148B1
公开(公告)日：2014-03-24
申请号：KR1020120062065
申请日：2012-06-11
Applicant: (주)언맨드솔루션
Abstract: 본발명은자율주행제어기술에관한것으로, 더욱상세하게는농업용트랙터의자율주행제어시스템에관한것이며, 이를위하여트랙터의기어를변환하기위한변속액추에이터;트랙터의속력을조절하기위한가속액추에이터;트랙터의속력을측정하기위한휠엔코더; 주행모드상태를표시하는표시창과자율주행또는수동주행모드선택을위한스위치와비상정지버튼을포함하는컨트롤패널; 트랙터의자율주행운전정보가미리저장되는데이터저장부; 상기컨트롤패널에서자율주행모드가선택되었을경우에상기데이터저장부에저장된자율주행운전정보와상기휠엔코더에서측정되어전송되어오는속력값을비교하여상기변속액추에이터와상기가속액추에이터를상기데이터저장부에저장된자율주행운전정보와상응하도록제어하는제어부;를포함한다. 본발명에따르면농업용트랙터의자율주행이가능해짐에따라작업효율이증대되는효과가있다.
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公开(公告)号：KR1020130139475A
公开(公告)日：2013-12-23
申请号：KR1020120062939
申请日：2012-06-13
Applicant: (주)언맨드솔루션
Abstract: The present invention relates to an autonomous steering system of a tractor and comprises; a steering unit which is made of a steering wheel and a steering axis combined to the steering wheel; an MDPS which rotates the steering wheel by being combined to the lower part of the steering axis and by determining a steering angle; an orbit roll which supplies oil pressure to a steering cylinder assembled to a wheel assembling part by being combined to the lower part of the MDPS and rotates a wheel by the steering cylinder with the oil pressure of an oil pressure pump; and a control device part which integrally manages the whole system of the tractor by being combined to the back side of the tractor. The MDPS comprises; an electric motor which provides driving force for the rotation of the steering wheel; and an ECU which controls the driving of the electric motor by transmitting and receiving steering wheel data through CAN communication with the control device part. According to the present invention, the autonomous steering system facilitates autonomous driving of the tractor and provides a precise autonomous driving effect of the tractor by mounting a potential meter.
Abstract translation: 本发明涉及一种拖拉机的自主转向系统，包括： 由方向盘和与方向盘组合的转向轴构成的转向单元; MDPS，其通过组合到转向轴的下部并且通过确定转向角来旋转方向盘; 轨道辊，其通过组合到MDPS的下部而将组合到车轮组装部的转向油缸供给油压，并通过转向缸以油压泵的油压旋转车轮; 以及通过组合到拖拉机的后侧来整体地管理拖拉机的整个系统的控制装置部分。 MDPS包括 提供用于方向盘旋转的驱动力的电动机; 以及ECU，其通过与控制装置部的CAN通信发送和接收方向盘数据来控制电动机的驱动。 根据本发明，自主转向系统有助于牵引车的自动驾驶，并通过安装电位计提供拖拉机的精确自主驾驶效果。
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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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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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Patent Agency Ranking
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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公开(公告)号：KR1020110070947A
公开(公告)日：2011-06-27
申请号：KR1020090127585
申请日：2009-12-19
Applicant: 한국과학기술원 , 국민대학교산학협력단
CPC classification number: Y02T10/7005 , B60L9/00
Abstract: PURPOSE: A controlling system for on-line electric vehicles is provided to implement an unmanned automatic driving operation and maximize the charging efficiency by automatically controlling the steering and the speed of the electric vehicles. CONSTITUTION: The controlling system(100) for on-line electric vehicles includes a detecting unit(110), a controlling unit(120), a driving unit(130), and a storing battery(140). The detecting unit detects electromagnetic field. The storing battery charges electric energy generated from the influence of the electromagnetic field. The driving unit drives the on-line electric vehicles based on the electric energy charged in the storing battery. The controlling unit maximizes the charging efficiency of the storing battery by controlling the driving unit according to the detection of the electromagnetic field.
Abstract translation: 目的：提供一种在线电动汽车的控制系统，实现无人驾驶的自动驾驶操作，通过自动控制电动车辆的转向和转速来最大限度提高充电效率。 构成：用于在线电动车辆的控制系统（100）包括检测单元（110），控制单元（120），驱动单元（130）和存储电池（140）。 检测单元检测电磁场。 存储电池充电从电磁场的影响产生的电能。 驱动单元基于在蓄电池中充入的电能驱动在线电动车辆。 控制单元通过根据电磁场的检测来控制驱动单元来使存储电池的充电效率最大化。
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