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公开(公告)号：KR1020080084435A
公开(公告)日：2008-09-19
申请号：KR1020070026154
申请日：2007-03-16
Applicant: 한국전자통신연구원
CPC classification number: G01C22/025 , G01C21/10 , G01S5/0294 , G05D1/027
Abstract: A position estimation method and system, and a recording medium for recording the method, using an odometer and a direction sensor are provided to remove the need of an external observation sensor by using a direction angle as a reference observation value by receiving moving distances along X and Y axes and a direction disparity value for calculating the present position of the moving body. A position estimation system using an odometer and a direction sensor(20) comprises an X shaft switching part(6), a Y shaft switching part(4), a direction disparity sensor(10), and a Karman filter(40). The X shaft switching part calculates a moving distance along an X axis by multiplying cos(Theta(t)) by an absolute position disparity volume. The Y shaft switching part calculates a moving distance along a Y axis by multiplying sin(Theta(t)) by the absolute position disparity volume. The direction disparity sensor detects a direction disparity value by using reference direction information from the direction sensor. The Karman filter calculates the present position of the moving body by receiving the moving distances along X and Y axes and the direction disparity value. An input value generating part(12) calculates an input value inputted to the Karman filter by using the Jacobian matrix.
Abstract translation: 提供一种位置估计方法和系统以及用于记录方法的记录介质，使用里程表和方向传感器，通过使用方向角作为基准观测值，通过接收沿着X的移动距离来消除对外部观察传感器的需要 Y轴和用于计算移动体的当前位置的方向视差值。 使用里程表和方向传感器（20）的位置估计系统包括X轴切换部（6），Y轴切换部（4），方向视差传感器（10）和卡曼过滤器（40）。 X轴切换部通过将cos（θ（t））乘以绝对位置视差体积来计算沿着X轴的移动距离。 Y轴切换部通过将sin（Theta（t））乘以绝对位置视差体积来计算沿着Y轴的移动距离。 方向视差传感器通过使用来自方向传感器的参考方向信息来检测方向视差值。 卡曼滤波器通过接收沿X轴和Y轴的移动距离和方向视差值来计算移动体的当前位置。 输入值生成部（12）通过使用雅可比矩阵来计算输入到卡曼滤波器的输入值。
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公开(公告)号：KR100853185B1
公开(公告)日：2008-08-20
申请号：KR1020060110171
申请日：2006-11-08
Applicant: 한국전자통신연구원
Abstract: 본 발명에 의한 영상정보와 무선 센서네트워크를 이용한 사물 인식 및 측위 방법 및 그 장치는 사물이 제공하는 데이터를 기초로 위치를 인식하고 측정하는 장치가 영상정보와 무선 센서네트워크를 이용하여 사물을 인식하고 측위하는 방법에 있어서, 위치를 측정하고자 하는 사물의 아이디를 획득한 후 그 아이디를 기초로 상기 사물의 정보를 획득하는 단계; 상기 사물에 부착된 전자태그와의 무선통신을 이용하여 상기 사물의 위치를 추정하는 단계; 상기 추정된 사물의 위치 근처의 영상을 획득하는 단계; 및 상기 획득된 영상으로부터 상기 사물의 위치를 재산정하는 단계;를 포함하는 것을 특징으로 하며, 공간 내에 존재하는 다양한 사물들의 ID와 정확한 위치정보를 파악할 수 있으므로 이를 바탕으로 사물 조작, 배달 등 지능적인 로봇 서비스 개발에 응용될 수 있다.
이동로봇 (Mobile robot), 무선 센서네트워크 (Wireless sensor network), 로봇 비전 (Robot vision)사물 인식 (Object recognition), 사물 측위 (Object localization), 센서 융합 (Sensor fusion)-
公开(公告)号：KR1020080050987A
公开(公告)日：2008-06-10
申请号：KR1020070083477
申请日：2007-08-20
Applicant: 한국전자통신연구원
CPC classification number: H04W64/006 , H04W4/029
Abstract: A device and a method for chasing location are provided to chase the position of the target object in real-time by combining an inertia measuring instrument with a wireless sensor network, and to perform the position prediction by the Kalman filter. A wireless sensor network predicts the present position of a moving body through the wireless communication. An inertia measuring instrument predicts the moving trace corresponding to the movement of the moving body. A position calculating instrument generates the state propagation movement equation by using the output signal outputted from the inertia measuring instrument and offers the present position information predicted from the communication instrument based on wireless sensor network to the state propagation movement equation, so that the correction is performed and the position change is chased. The position calculating instrument comprises a position observation part(53) for finding position information from the signal generated by the wireless sensor network. A state propagation movement equation acquisition part(51) calculates the movement equation by processing the signal from the inertia measuring instrument. A movement equation correction and propagation part(52) offers the present position information to the state propagation movement equation and corrects and propagates.
Abstract translation: 提供一种用于追踪位置的装置和方法，通过组合惯性测量仪器与无线传感器网络实时地追踪目标物体的位置，并通过卡尔曼滤波器进行位置预测。 无线传感器网络通过无线通信来预测移动体的当前位置。 惯性测量仪器预测与移动体的运动对应的运动轨迹。 位置计算装置通过使用从惯性测量仪器输出的输出信号产生状态传播运动方程，并将基于无线传感器网络的通信仪器预测的当前位置信息提供给状态传播运动方程，从而执行校正 并改变位置。 位置计算装置包括用于从由无线传感器网络生成的信号中找到位置信息的位置观察部分（53）。 状态传播运动方程获取部件（51）通过处理来自惯性测量仪器的信号来计算移动方程式。 运动方程校正传播部分（52）将当前位置信息提供给状态传播运动方程并进行校正和传播。
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公开(公告)号：KR1020080047841A
公开(公告)日：2008-05-30
申请号：KR1020060117788
申请日：2006-11-27
Applicant: 한국전자통신연구원
IPC: H04L12/28
CPC classification number: H04W4/02 , G01S5/0027
Abstract: A low-power positioning system using a tag based on a wireless sensor network and a method thereof are provided to detect the motion of a tag device through a motion sensor and consume power for transmitting a position calculating signal to the receiving sensor of a position calculating unit only when an object moves, thereby minimizing the power consumption of the tag device and the receiving sensor. A positioning system based on a wireless sensor network comprises a motion sensor(50), a wireless network tag(100), a wireless network receiving sensor(800), and a position calculating unit(900). The motion sensor is mounted to a corresponding position to detect motion. The wireless network tag has the motion sensor, is attached to a mobile object(10) to determine whether the object moves on the basis of the motion detection information of the motion sensor, and switches a power mode for the transmission of the position calculating signal of the object into an operation mode or a slip mode selectively according to the determination result. The wireless network receiving sensor receives the position calculating signal transmitted from the wireless network tag switched into the operation mode according to the motion of the object, and generates and outputs the information of the received position calculating signal. The position calculating unit calculates the position of the object on the basis of the information of the received position calculating signal outputted from the wireless network receiving sensor.
Abstract translation: 提供一种使用基于无线传感器网络的标签的低功率定位系统及其方法，用于通过运动传感器检测标签装置的运动，并且消耗用于向接收传感器发送位置计算信号的位置计算 只有当物体移动时，才能使标签装置和接收传感器的功率消耗最小化。 基于无线传感器网络的定位系统包括运动传感器（50），无线网络标签（100），无线网络接收传感器（800）和位置计算单元（900）。 运动传感器安装到相应的位置以检测运动。 无线网络标签具有运动传感器，附接到移动对象（10），以基于运动传感器的运动检测信息来确定对象是否移动，并且切换用于发送位置计算信号的功率模式 根据确定结果选择性地将该对象转换成操作模式或打印模式。 无线网络接收传感器根据对象的运动接收从切换到操作模式的无线网络标签发送的位置计算信号，并生成并输出接收位置计算信号的信息。 位置计算单元根据从无线网络接收传感器输出的接收位置计算信号的信息，计算对象的位置。
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Patent Agency Ranking25.发明授权
公开(公告)号：KR100823739B1
公开(公告)日：2008-04-21
申请号：KR1020060124884
申请日：2006-12-08
Applicant: 한국전자통신연구원
CPC classification number: G05D1/0274 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0207
Abstract: A mapping apparatus and method in a mobile robot are provided to reflect change of surrounding conditions on the map by using a mobile robot to collect surrounding information. A conveyance part(120) conveys a mobile robot according to an input command. A distance measurement part(140) measures a distance from the mobile robot to an object positioned in the vicinity of the mobile robot. A mapping part(180) makes a map based on the measured distance. A mobile robot detector(150) compares a distance to an object of the map from the mobile robot, which is measured after mapping, with the measured distance of the distance measurement part after the map is made. The moving device detector detects the object based on the comparison result. An object movement detector(160) detects the movement state of the object in the area of the map. A controller(110) reflects changed information about surroundings to update the map.
Abstract translation: 提供了一种移动机器人中的映射设备和方法，以通过使用移动机器人来收集周围信息来反映地图上的周围条件的变化。 输送部（120）根据输入指令传送移动机器人。 距离测量部件（140）测量从移动机器人到位于移动机器人附近的物体的距离。 映射部分（180）基于测量的距离制作地图。 移动机器人检测器（150）将映射之后测量的来自移动机器人的地图的距离与测绘地图之后的测量距离进行比较。 移动装置检测器基于比较结果来检测物体。 物体运动检测器（160）检测物体在地图区域中的移动状态。 控制器（110）反映关于周围环境的改变的信息以更新地图。
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公开(公告)号：KR1020070015033A
公开(公告)日：2007-02-01
申请号：KR1020060070839
申请日：2006-07-27
Applicant: 한국전자통신연구원
CPC classification number: A63H11/00 , A63H17/36 , A63H2200/00 , G01B21/32
Abstract: An apparatus for detecting movement of attached connection unit is provided to measure pulled extent, direction and length of the attached connection unit such as a necklace or a cable. An apparatus for detecting movement of an attached connection unit includes a connection unit, and a length detection part(130). The connection unit has one end connected to an inner part of the apparatus, and the other end disposed to the outside of the apparatus through one side of the apparatus. The length detection part measures a length pulled out of the apparatus. The length detection part includes a rotary reel, and a rotary measurement part. The rotary reel is connected to one end of the connection unit, and wounds the connection unit. The rotary measurement part measures an extent of rotation of the reel when the connection unit is pulled, and measures a length in which the connection unit is pulled.
Abstract translation: 提供一种用于检测附接的连接单元的移动的装置，以测量所连接的连接单元（例如项链或电缆）的拉伸程度，方向和长度。 一种用于检测附接的连接单元的移动的装置包括连接单元和长度检测部分（130）。 连接单元的一端连接到设备的内部，另一端通过设备的一侧设置在设备的外部。 长度检测部分测量从设备拉出的长度。 长度检测部包括旋转卷轴和旋转测量部。 旋转卷轴连接到连接单元的一端，并缠绕连接单元。 旋转测量部分在连接单元被拉动时测量卷轴的旋转程度，并测量连接单元被拉动的长度。
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公开(公告)号：KR100862189B1
公开(公告)日：2008-10-09
申请号：KR1020060117788
申请日：2006-11-27
Applicant: 한국전자통신연구원
IPC: H04L12/28
Abstract: 본 발명은 무선 센서 네트워크 기반 저전력 위치 인식 시스템 및 그 방법에 관한 것으로, 본 발명의 위치 인식 시스템은, 해당 위치에 부착되어 움직임을 감지하는 모션 센서; 상기 모션 센서가 부착되고 자신은 움직임이 가능한 물체에 부착되어, 상기 모션 센서의 움직임 감지 정보에 기초하여 상기 물체의 움직임 발생 여부를 판별하고, 그 결과에 따라 상기 물체의 위치산출용신호 전송을 위한 전원 모드를 동작 모드 및 슬립 모드로 선택적으로 전환하는 무선 네트워크 태그; 상기 물체의 움직임 발생에 따라 상기 동작 모드로 전환된 무선 네트워크 태그로부터 전송되는 위치산출용신호를 수신하고, 상기 수신한 위치산출용신호의 수신정보를 생성하여 출력하는 무선 네트워크 수신 센서; 및 상기 무선 네트워크 수신 센서로부터 출력되는 위치산출용신호의 수신정보에 기초하여 상기 물체의 위치를 산출하는 위치 인식 산출부를 포함하며, 이에 의해, 무선 네트워크 태그의 전력 소모를 최소화할 수 있다.
위치 인식 시스템, 모션 센서, 무선 센서 네트워크, 저전력, 측위 시스템Abstract translation: 提供一种使用基于无线传感器网络的标签的低功率定位系统及其方法，用于通过运动传感器检测标签装置的运动，并且消耗用于向接收传感器发送位置计算信号的位置计算 只有当物体移动时，才能使标签装置和接收传感器的功率消耗最小化。 基于无线传感器网络的定位系统包括运动传感器（50），无线网络标签（100），无线网络接收传感器（800）和位置计算单元（900）。 运动传感器安装到相应的位置以检测运动。 无线网络标签具有运动传感器，附接到移动对象（10），以基于运动传感器的运动检测信息来确定对象是否移动，并且切换用于发送位置计算信号的功率模式 根据确定结果选择性地将该对象转换成操作模式或打印模式。 无线网络接收传感器根据对象的运动接收从切换到操作模式的无线网络标签发送的位置计算信号，并生成并输出接收位置计算信号的信息。 位置计算单元根据从无线网络接收传感器输出的接收位置计算信号的信息，计算对象的位置。
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公开(公告)号：KR1020080050956A
公开(公告)日：2008-06-10
申请号：KR1020070062328
申请日：2007-06-25
Applicant: 한국전자통신연구원
CPC classification number: H04W64/003 , H04W4/80
Abstract: An apparatus and a method for detecting a location of a target are provided to enhance the efficiency and practicability of a wireless sensor network by detecting a location of a target without performing time synchronization. A tag transmits radiowaves(S310). A master node receives a signal 'a'(S320). When sensor nodes receive the radiowaves of the tag and transmit an acknowledgement signal, the master node receives and records the acknowledgement signal(signal 'b') of each sensor node(S330). The master node obtains a location of a target with the tag based on a time difference between the signal 'a' and the signal 'b'(S340).
Abstract translation: 提供了用于检测目标位置的装置和方法，以通过在不执行时间同步的情况下检测目标的位置来增强无线传感器网络的效率和实用性。 标签发射无线电波（S310）。 主节点接收信号'a'（S320）。 当传感器节点接收标签的无线电波并发送确认信号时，主节点接收并记录每个传感器节点的确认信号（信号“b”）（S330）。 主节点基于信号'a'和信号'b'之间的时间差来获得具有标签的目标的位置（S340）。
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公开(公告)号：KR1020080041932A
公开(公告)日：2008-05-14
申请号：KR1020060110171
申请日：2006-11-08
Applicant: 한국전자통신연구원
CPC classification number: G06F17/30277 , G06K17/0022 , G06T7/70
Abstract: A method for recognizing objects and measuring locations by using image information and a wireless sensor network and an apparatus thereof are provided to check efficiently and definitely location information of objects which exist in a set space. A method for recognizing objects and measuring locations comprises the following several steps. A wireless location recognizing system broadcasts specific signals over a space for detecting electronic tags existing over the space(S310). The wireless location recognizing system calculates approximate location information of objects to which the electronic tags are attached by using a wireless communication based location recognizing scheme like UWB(S320). The system compares the image captured via a camera with object information obtained via an ID of the object, and detects the corresponding object from the image(S330). The system measures location information of the detected object on the image and a distance from the camera to the object by using other special device and procedures(S340).
Abstract translation: 提供了一种通过使用图像信息识别对象和测量位置的方法及其装置，以有效且准确地检查存在于设定空间中的对象的位置信息。 用于识别对象和测量位置的方法包括以下几个步骤。 无线位置识别系统通过用于检测存在于该空间上的电子标签的空间广播特定信号（S310）。 无线位置识别系统通过使用基于无线通信的位置识别方案（如UWB）来计算电子标签附着的对象的大致位置信息（S320）。 系统将通过照相机拍摄的图像与通过对象的ID获得的对象信息进行比较，并从图像中检测相应的对象（S330）。 该系统通过使用其他特殊装置和程序来测量图像上检测到的物体的位置信息和从照相机到物体的距离（S340）。
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