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公开(公告)号：KR1020080029080A
公开(公告)日：2008-04-03
申请号：KR1020060094607
申请日：2006-09-28
Applicant: 부천산업진흥재단 , 한국산업기술대학교산학협력단 , 유제군 , 이응혁
IPC: G05D1/10
CPC classification number: G05D1/0246 , B25J19/023 , G06K9/46 , G06K9/6202
Abstract: A system and a method for estimating a self-position of a mobile robot using a monocular zoom-camera are provided to reduce error of distance information by calculating rotation and movement parameters on a characteristic point. A system for estimating a self-position of a mobile robot using a monocular zoom-camera includes a camera(100), a main processing unit(300), and a serial communication unit(200). The camera obtains images on a working area of a mobile robot. The main processing unit stores initial images from the camera as a reference image, sets a map database based on characteristic points, matching points, relative positions of the mobile robot, compares images obtained from movement of the mobile robot with the reference image, and produces relative and absolute positions and posture information of the mobile robot according to the comparison result. The serial communication unit is an information transmission path between the camera and the main processing unit.
Abstract translation: 提供了一种用于使用单目变焦摄像机估计移动机器人的自身位置的系统和方法，以通过在特征点上计算旋转和移动参数来减少距离信息的误差。 用于使用单目变焦摄像机估计移动机器人的自身位置的系统包括摄像机（100），主处理单元（300）和串行通信单元（200）。 相机在移动机器人的工作区域上获取图像。 主处理单元将来自相机的初始图像存储为参考图像，基于特征点，匹配点，移动机器人的相对位置设置地图数据库，将从移动机器人的移动获得的图像与参考图像进行比较，并且生成 根据比较结果，可移动机器人的相对和绝对位置和姿势信息。 串行通信单元是相机和主处理单元之间的信息传输路径。
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公开(公告)号：KR1020080008133A
公开(公告)日：2008-01-23
申请号：KR1020060067627
申请日：2006-07-19
Applicant: 한국산업기술대학교산학협력단
Abstract: A walk aid robot is provided to permit an old or weak person to move easily by power transmitted from a motor. A walk aid robot includes a walk intention recognition handle, an elevating handle, an ultrasonic distance measuring unit, a driving wheel, a caster, a health monitor, a wireless sensor network system, and an embedded system. The walk intention recognition handle recognizes and supports intention of an old or weak person. The elevating handle assists sitting and standing action of the old or weak person. The ultrasonic distance measuring unit detects unexpected obstacles existing in front of the old or weak person. The driving wheel is equipped with a motor for assisting walking. The embedded system is equipped with a wireless LAN.
Abstract translation: 提供步行辅助机器人以允许老弱人通过从电动机传递的动力容易地移动。 步行辅助机器人包括行走意识识别手柄，升降手柄，超声波测距单元，驱动轮，脚轮，健康监视器，无线传感器网络系统和嵌入式系统。 步行意识识别手段识别和支持老弱人的意图。 升降手柄有助于老人或弱者的坐姿和站立动作。 超声波距离测量单元检测老人或弱者之前存在的意外障碍物。 驱动轮配备有用于辅助行走的电动机。 嵌入式系统配有无线局域网。
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公开(公告)号：KR1020160081853A
公开(公告)日：2016-07-08
申请号：KR1020150190963
申请日：2015-12-31
Applicant: 한국산업기술대학교산학협력단
Abstract: 전동휠체어에서뒷바퀴(in wheel)를구동하는모터의정보를판독하는인코더(encoder) 정보와관성센서로산출된정보를이용하여슬립율을산출하고, 슬립보정토크를이용하여전동기의최종출력전에피드포워드(Feed-Forward) 제어를하여미끄러짐을최소화할수 있도록한 전동휠체어의슬립제어장치및 그방법에관한것으로서, 사용자의조작정보를입력받는사용자입력장치; 전동휠체어의뒷바퀴를구동하는모터의정보와전동휠체어의실제속도정보를획득하는정보검출기; 모터의정보와전동휠체어의정보를기초로슬립율을산출하는슬립율산출기; 입력되는사용자정보를기초로모터속도를산출하는모터속도산출기; 슬립율을기초로슬립을제어하기위한슬립보정토크를산출하는슬립제어기; 슬립보정토크와모터목표속도를연산하여슬립률에따라목표속도를보정하는목표속도보정기; 및목표속도와모터의피드백정보를조합하여상기모터를 PID 제어하는모터속도제어기를포함하여, 전동휠체어의슬립제어장치를구현한다.
Abstract translation: 本发明涉及一种用于控制电动轮椅滑动的装置和方法，其能够通过使用由惯性传感器计算的信息来计算滑移率，以及编码器信息以检测关于操作后轮的电动机的信息 电动轮椅，并通过使用滑移校正扭矩在马达的最终输出之前执行前馈控制来最小化滑动。 本发明包括：用户输入设备，其接收用户的操作信息; 信息检测器，获取电动轮椅的实际速度信息和关于操作轮椅后轮的马达的信息; 滑移率计算器，基于所述电动机信息和所述电动轮椅信息计算滑移率; 马达速度计算器，基于输入的用户信息计算马达的速度; 滑差控制器，基于滑移率计算滑移校正扭矩以控制滑移; 目标速度校正器，通过计算电动机目标速度和滑差校正转矩来校正根据滑移率的目标速度; 以及通过组合电动机反馈信息和目标速度来执行电动机的PID控制的电动机速度控制器。
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公开(公告)号：KR101597337B1
公开(公告)日：2016-02-25
申请号：KR1020140052078
申请日：2014-04-30
Applicant: 한국산업기술대학교산학협력단 , 대양롤랜트 주식회사
Abstract: 고장진단이가능한컨베이어시스템및 그의제어방법에관한것으로, 구동롤러와종동롤러사이에미리설정된만큼이격되어회전가능하게설치되는다수의캐리어롤러, 상기캐리어롤러의회전수와캐리어롤러의양측에설치된베어링의온도를감지하는감지부, 상기캐리어롤러의회전력을이용해전기에너지를발생하는발전부및 상기감지부의감지신호를이용해서상기캐리어롤러의고장발생여부를진단하는진단부를포함하는구성을마련하여, 컨베이어시스템에적용된각 캐리어롤러의소착으로인한고장발생상태를진단할수 있다는효과가얻어진다.
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公开(公告)号：KR101588596B1
公开(公告)日：2016-02-12
申请号：KR1020130147209
申请日：2013-11-29
Applicant: 한국산업기술대학교산학협력단
Abstract: 장애물및 노면을감지하여사용자에게위험사항을알려줄수 있도록한 보행보조차의위험사항제어장치및 그방법에관한것으로서, 거리감지센서를이용하여보행보조차의전방노면을검출하는노면검출부; 상기노면검출부에서검출한노면검출값을기초로노면깊이또는노면높이를예측하고, 상기예측한노면깊이또는노면높이에따라차등적인경보를발생하며, 위험사항으로판단되면자동으로보행보조차를정지시키는제어신호를발생하는제어부; 상기제어부의제어에따라초기위험사항에대한경보를수행하는경보조명부; 상기제어부의제어에따라최종위험사항에대한경보를수행하는경보음향발생부; 및상기제어부의제어에따라최종위험사항시 전동기를오프시켜보행보조차의구동을정지시키는전동기구동부를포함한다.
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Patent Agency Ranking
公开(公告)号：KR101572183B1
公开(公告)日：2015-11-26
申请号：KR1020130147208
申请日：2013-11-29
Applicant: 한국산업기술대학교산학협력단
IPC: A61B5/11
Abstract: 족저부의압력분포분석을통해내족지보행, 외족지보행을정확하게판별할수 있도록한 압력분석을통한내·외족지보행분석장치및 그방법에관한것으로서, 복수의압력센서가부착된신발을착용한보행자의보행시발생하는족저부압력을측정하여전송하는발 압력측정장치; 상기발 압력측정장치에서측정한발 압력데이터를수신하여국부압력분포를계산하고, 상기계산한국부압력분포를분석하여보행상태를판정하는보행상태분석장치를포함하고, 측정된발 압력측정데이터로부터입각기의발 압력데이터만을추출하고, 상기입각기의발 압력데이터를기초로국부압력분포를계산한후, 국부압력분포를분석하여보행상태를판정하게된다.
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公开(公告)号：KR1020140029079A
公开(公告)日：2014-03-10
申请号：KR1020120114518
申请日：2012-10-16
Applicant: 한국산업기술대학교산학협력단 , 주식회사 시큐인포
Abstract: The present invention relates to a remote monitoring system using a mobile terminal, which includes: a mobile terminal for the monitoring system which generates monitoring data which includes image data which is photographed by a built-in camera, compresses the generated monitoring data with a scalable video coding (SVC) codec, determines the transmission size of the monitoring data which is compressed with the SVC codec according to the network situations, and transmitting the monitoring data in real time; and a monitoring server which receives, displays, and stores the monitoring data. The monitoring system using the mobile terminal according to an embodiment of the present invention like the aforementioned is able to monitor smoothly without disconnecting by transmitting monitoring data by differentiating the sizes of the monitoring data according to the network situations.
Abstract translation: 本发明涉及一种使用移动终端的远程监视系统，其包括：用于监视系统的移动终端，其生成包括由内置摄像机拍摄的图像数据的监视数据，以可扩展的方式压缩生成的监视数据 视频编码（SVC）编解码器根据网络情况确定用SVC编解码器压缩的监控数据的传输大小，并实时发送监控数据; 以及监视服务器，其接收，显示和存储监视数据。 根据如上所述的本发明的实施例的使用移动终端的监视系统能够通过根据网络情况区分监视数据的大小来发送监视数据来平滑地监视。
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公开(公告)号：KR1020130079054A
公开(公告)日：2013-07-10
申请号：KR1020120000308
申请日：2012-01-02
Applicant: 한국산업기술대학교산학협력단
CPC classification number: A61H3/04 , A61G5/04 , A61G5/048 , A61H2003/043 , A61H2201/5023 , A61H2230/085 , A61H2230/208 , A61H2230/255 , A61H2230/505 , A61N1/18 , G06Q50/24
Abstract: PURPOSE: A walking assist robot capable of efficiently keeping an electronic health record (EHR) is provided to enable safe and comfortable walking assistance for a user with inconvenient physical activity like an aged person, etc. in walking frame mode and wheelchair mode as well as to easily measure physical condition like the abnormality of a body, etc. by using various bio-signal measuring instruments mounted on the walking assist robot. CONSTITUTION: A walking assist robot determines a moving direction according to the operation of a joystick by a user in walking frame mode and wheelchair mode and assists the walking of the user by moving at a corresponding speed in accordance with a sensor signal generated from a strength sensor detecting the grip strength of the user. The walking assist robot includes multiple bio-signal measuring instruments (111-113), an information collecting terminal (110), and an information processing device (120). The bio-signal measuring instrument includes the following parts: one or more walking frame mode measuring instrument installed around walking frame mode joysticks (150,160,190) in order to measure bio-signals of the user in walking frame mode; and one or more wheelchair mode measuring instrument installed at a storage space (140) in order to measure bio-signals of the user in wheelchair mode. The information collecting terminal is connected to the walking frame mode measuring instrument through a cable, controls the measurement start of the walking frame mode measuring instrument, and collects bio-signals outputted from the walking frame mode measuring instrument, and is connected to the wheelchair mode measuring instrument through wireless communications and collects bio-signals outputted from the wheelchair mode measuring instrument. [Reference numerals] (AA) Ultrasonic sensor; (BB) Provide air pressure for a blood pressure gauge; (CC) Battery
Abstract translation: 目的：提供一种能够有效保持电子健康记录（EHR）的行走辅助机器人，以便在步行框架模式和轮椅模式下为使用不方便身体活动的用户提供安全舒适的行走辅助，如老年人等 通过使用安装在步行辅助机器人上的各种生物信号测量仪器容易地测量身体状况，例如身体的异常等。 构成：步行辅助机器人根据用户在步行框架模式和轮椅模式下的操纵杆的操作来确定移动方向，并且根据从强度产生的传感器信号以相应的速度移动来帮助用户行走 传感器检测用户的握力。 步行辅助机器人包括多个生物信号测量仪器（111-113），信息收集终端（110）和信息处理设备（120）。 生物信号测量仪器包括以下步骤：一个或多个步行架模式测量仪器安装在步行模式操纵杆（150,160,190）周围，以便以步行模式测量用户的生物信号; 以及安装在存储空间（140）上的一个或多个轮椅模式测量仪器，以便在轮椅模式下测量用户的生物信号。 信息收集终端通过电缆连接到步行式模式测量仪器，控制步行式模式测量仪器的测量开始，并收集从步行式模式测量仪器输出的生物信号，并连接到轮椅模式 通过无线通信测量仪器，并收集从轮椅模式测量仪器输出的生物信号。 （附图标记）（AA）超声波传感器; （BB）为血压计提供气压; （CC）电池
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公开(公告)号：KR1020120016372A
公开(公告)日：2012-02-24
申请号：KR1020100078668
申请日：2010-08-16
Applicant: 한국산업기술대학교산학협력단
CPC classification number: Y02E10/50 , H02S50/10 , H02S40/10 , H04Q9/00 , H04Q2209/43
Abstract: PURPOSE: A system and method for managing a solar panel by using a robot are provided to efficiently manage a solar cell generating system by cleaning surface of the solar panel by using the robot while grasping a state of the solar panel. CONSTITUTION: A solar panel array(110) comprises a plurality of solar panels. A robot(120) is connected to the upper end of the solar panel array by a hook. The robot cleans the surface of the solar panel while moving the solar panel array. A collecting means(130) collects information through local area wireless communications. An administrator terminal(140) remotely monitors cleaning conditions of the solar panel and whether the solar panel has some problems or not.
Abstract translation: 目的：提供一种通过使用机器人来管理太阳能电池板的系统和方法，通过在抓住太阳能电池板的状态的同时利用机器人来清洁太阳能电池板的表面来有效地管理太阳能电池产生系统。 构成：太阳能电池板阵列（110）包括多个太阳能电池板。 机器人（120）通过钩连接到太阳能电池板阵列的上端。 机器人在移动太阳能电池板阵列的同时清洁太阳能电池板的表面。 收集装置（130）通过局域无线通信收集信息。 管理员终端（140）远程监视太阳能电池板的清洁状况以及太阳能电池板是否具有一些问题。
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公开(公告)号：KR1020110109705A
公开(公告)日：2011-10-06
申请号：KR1020100029550
申请日：2010-03-31
Applicant: 한국산업기술대학교산학협력단
CPC classification number: A47L9/2826 , A47L2201/00
Abstract: 본 발명은 적외선 센서를 이용한 로봇 청소기에 관한 것으로, 적외선 신호를 발광하는 적어도 하나의 적외선 발광소자와; 상기 적외선 발광소자로부터 발광하는 적외선 신호를 수신하는 복수의 적외선 수광소자와; 기 설정된 감지시간 동안 상기 복수의 적외선 수광소자에 의해 감지된 적외선 신호의 패턴을 분석하여 바닥면의 표면 상태를 감지하는 메인 제어부를 포함하는 것을 특징으로 한다. 이에 따라, 저가의 적외선 센서를 이용하면서도 로봇 청소기가 주행하는 바닥면의 표면 상태, 특히, 카펫, 낙하 상태, 검정색 바닥면과 같은 특이 지형에서도 동작 오류 없이 주행이 가능하게 된다.
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