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公开(公告)号：KR1020120103943A
公开(公告)日：2012-09-20
申请号：KR1020110021933
申请日：2011-03-11
Applicant: 고려대학교 산학협력단
CPC classification number: G05D1/0033 , G06K9/00664 , G06K9/00771 , G06K9/4652 , G06K9/6247 , G06T7/251 , G06T2207/10016 , G06T2207/30252
Abstract: PURPOSE: A system and a method for recognizing the position of a robot are provided to find the positions of each robot by analyzing the motion patterns of the robot. CONSTITUTION: A system for recognizing the position of a robot(10) comprises a photographing unit, a motion tracking unit(16), and a motion analyzing unit(18). The motion analyzing unit obtains the motion information of the robot from the photographing unit. The motion analyzing unit calculates actual motion patterns of the robot by converting the motion information in image coordinates into the motion information in spatial coordinates. The motion analyzing unit figures out the motion of the robot by comparing motion patterns with the actual motion patterns. [Reference numerals] (16) Motion tracking unit; (18) Motion analyzing unit; (20) Position detecting unit
Abstract translation: 目的：提供用于识别机器人位置的系统和方法，以通过分析机器人的运动模式来找出每个机器人的位置。 构成：用于识别机器人（10）的位置的系统包括拍摄单元，运动跟踪单元（16）和运动分析单元（18）。 运动分析单元从拍摄单元获取机器人的运动信息。 运动分析单元通过将图像坐标中的运动信息转换为空间坐标中的运动信息来计算机器人的实际运动模式。 运动分析单元通过将运动模式与实际运动模式进行比较来计算机器人的运动。 （附图标记）（16）运动跟踪单元; （18）运动分析单元; （20）位置检测单元
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公开(公告)号：KR1020120092235A
公开(公告)日：2012-08-21
申请号：KR1020110012143
申请日：2011-02-11
Applicant: 고려대학교 산학협력단
Abstract: PURPOSE: A control device and method of a mobile robot are provided to kinematically and dynamically control the movement of a robot with an adaptive PD(Proportional Derivative) control method, thereby moving the robot independent of changes in the weight and centroid of the robot. CONSTITUTION: A control device of a mobile robot comprises a kinematic controller(132), a parameter estimator(136), and a dynamic controller(134). The kinematic controller receives location information and direction error information according to the actual movement of a mobile robot and outputs a target forward speed(vref) and a target rotation speed(ωref) of the mobile robot. The parameter estimator receives forward and rotational acceleration created corresponding to the target forward and rotation speeds according to the movement of the mobile robot and estimates parameters(m,dr) related to the weight of the mobile robot. The dynamic controller receives information on the difference between the target forward and rotation speeds and the actual movement of the mobile robot and determines torque(τr,τl) of motors(M1,M2,120,122).
Abstract translation: 目的：提供一种移动机器人的控制装置和方法，用自适应PD（比例微分）控制方法动态和动态地控制机器人的运动，从而使机器人独立于机器人重量和重心的变化而移动。 构成：移动机器人的控制装置包括运动控制器（132），参数估计器（136）和动态控制器（134）。 运动控制器根据移动机器人的实际运动接收位置信息和方向误差信息，并输出移动机器人的目标前进速度（vref）和目标转速（ωref）。 根据移动机器人的移动，参数估计器接收与目标前进和转速相对应的向前和旋转加速度，并估计与移动机器人的重量相关的参数（m，dr）。 动态控制器接收关于目标前进和转速之间的差异以及移动机器人的实际移动的信息，并确定电动机（M1，M2,120,122）的转矩（τr，τl）。
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公开(公告)号：KR1020110023565A
公开(公告)日：2011-03-08
申请号：KR1020090081527
申请日：2009-08-31
Applicant: 고려대학교 산학협력단
Abstract: PURPOSE: An environmental monitoring system using SVM and a method thereof are provided to reduce the operation amount of data and to increase the accuracy of classification when classifying sensing information. CONSTITUTION: A sensor node generates sensing information in a sensing area and transmits the sensing information to a base station(BS). The base station generates geographic location information to a sensor node in a GPS(Global Positioning System)(S210). The base station collects sensing information from the sensor node within the sensing information collection range(S240). The collected sensing information is transmitted to a main server(S250). The sensor node generates geographic location information(S220).
Abstract translation: 目的：提供使用SVM的环境监控系统及其方法，以减少数据的操作量，并在分类感测信息时提高分类的准确性。 构成：传感器节点在感测区域中生成感测信息，并将感测信息发送到基站（BS）。 基站在GPS（全球定位系统）中向传感器节点生成地理位置信息（S210）。 基站在感测信息收集范围内从传感器节点收集感测信息（S240）。 所收集的感测信息被发送到主服务器（S250）。 传感器节点产生地理位置信息（S220）。
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公开(公告)号：KR1020100097863A
公开(公告)日：2010-09-06
申请号：KR1020090016721
申请日：2009-02-27
Applicant: 고려대학교 산학협력단
CPC classification number: B66C23/18 , B66C15/02 , B66C2700/03
Abstract: PURPOSE: A tower crane capable of controlling the direction of members is provided to improve labor force and costs by easily positioning a member using an auxiliary crane. CONSTITUTION: A tower crane(1) capable of controlling the direction of members comprises a mast frame(2), a main crane(3), a trolley(4), and a hoist(5). The mast frame is vertically fixed to the ground. The main crane is rotatably installed in the mast frame. The trolley is rectilinearly moved on the main crane. The hoist is installed in the trolley and pulls up an object.
Abstract translation: 目的：提供一种能够控制构件方向的塔式起重机，通过使用辅助起重机轻松定位构件来提高劳动力和成本。 构成：能够控制构件方向的塔式起重机（1）包括桅杆架（2），主起重机（3），推车（4）和起重机（5）。 桅杆架垂直固定在地面上。 主起重机可旋转地安装在桅杆架中。 手推车在主起重机上直线运动。 起重机安装在手推车上并拉起物体。
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公开(公告)号：KR1020100020861A
公开(公告)日：2010-02-23
申请号：KR1020080079653
申请日：2008-08-13
Applicant: 건국대학교 산학협력단 , 한양대학교 산학협력단 , 고려대학교 산학협력단
Abstract: PURPOSE: An apparatus and a method for managing the progress of steel structure construction are provided to perform the progress management according to real-time work progress information by managing the progress of steel structure construction in real time. CONSTITUTION: A member information extractor(11) extracts member information from a steel frame structure. Based on the process generation information from the user and the member information, a steel frame assembly process generator(12) generates a process information of a steel assembly process. A progress management unit(13) compares the steel assembly process with the real steel assembly state from a construction automation system. The progress management unit manages the progress state of the steel assembly construction.
Abstract translation: 目的：提供钢结构建设进度管理的手段和方法，通过实时管理钢结构建设进度，根据实时工作进度情况进行进度管理。 构成：成员信息提取器（11）从钢框架结构中提取成员信息。 根据来自用户的过程生成信息和成员信息，钢框架组装过程发生器（12）生成钢组装过程的过程信息。 进度管理单元（13）将钢组装过程与建筑自动化系统的实际钢组装状态进行比较。 进度管理单位管理钢组装施工进度状况。
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Patent Agency Ranking
公开(公告)号：KR1020090016532A
公开(公告)日：2009-02-16
申请号：KR1020070080974
申请日：2007-08-11
Applicant: 고려대학교 산학협력단
Abstract: A position assurance steel member structure is provided to stabilize the assembling process of a steel member by securing a position stably when assembling a steel member. A position assurance steel member structure comprises a plurality of steel member bodies(100), a position assurance unit(200) arranged in the steel member body and strengthening the position of the steel member body. The position assurance unit comprises a first strengthening unit(220) arranged on one side of one of a plurality of the steel member bodies, and a second strengthening unit(210) mounted to another steel member body of a plurality of the steel member bodies and placed to engage with one end of the first strengthening unit.
Abstract translation: 提供了一种位置保证钢构件结构，用于通过在组装钢构件时稳定地固定位置来稳定钢构件的组装过程。 位置保证钢构件结构包括多个钢构件本体（100），布置在钢构件本体中的位置保证单元（200），并加强钢构件本体的位置。 位置保证单元包括：布置在多个钢构件主体中的一个的一侧的第一加强单元（220）和安装在多个钢构件主体的另一个钢构件主体上的第二加固单元（210），以及 放置成与第一加强单元的一端接合。
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公开(公告)号：KR100881807B1
公开(公告)日：2009-02-03
申请号：KR1020070087266
申请日：2007-08-29
Applicant: 고려대학교 산학협력단
CPC classification number: B66C23/64 , B66C2700/03
Abstract: A double crane is provided to fix a member using a secondary crane located in a lower part of the main crane, thereby reducing a number of casualties and minimizing a construction period. A double crane comprises the following units. A mast(100) is set perpendicularly. A main crane(200) is combined with the mast in order to lift a member(B). An operating unit(400) is connected to a secondary crane(300). The secondary crane is composed of a secondary jib(310) perpendicular to the secondary crane and a rotating unit(330) rotating the secondary jib at a spot of combining the main crane. The secondary jib is combined with the mast perpendicular to each other.
Abstract translation: 提供双重起重机以使用位于主起重机的下部的二级起重机来固定构件，从而减少了多次伤亡并使施工周期最小化。 双重起重机包括以下单元。 桅杆（100）垂直设置。 主起重机（200）与桅杆结合以提升构件（B）。 操作单元（400）连接到二次起重机（300）。 二次起重机由垂直于二次起重机的二级起重臂（310）和在主起重机的组合点使副吊臂旋转的旋转单元（330）组成。 副臂与桅杆相互垂直相结合。
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公开(公告)号：KR1020080110332A
公开(公告)日：2008-12-18
申请号：KR1020070058963
申请日：2007-06-15
Applicant: 고려대학교 산학협력단
CPC classification number: G01C15/105 , E04B1/24 , G01B11/26 , G01C9/06
Abstract: A verticality measuring device of a steel erection by laser sensing technology is provided to help unskilled users to carry out the measuring work precisely and safely by using laser beams, thereby simplifying the mounting and handling thereof. An erection attaching frame(110) is able to be attached to a steel erection by using magnets and has a hole(150) for projecting laser beams. A weight is connected to a laser beam projection unit with a freedom degree in every direction in the frame and stopped moving in a short time by own weight for making laser beam projection possible. The laser beam projection unit(130) projects the laser beams in the vertical direction. A power supply(140) supplies power to the laser projecting unit.
Abstract translation: 提供了一种通过激光感测技术进行钢架设的垂直度测量装置，以帮助不熟练的用户使用激光进行精确安全的测量工作，从而简化了安装和操作。 安装安装架（110）能够通过使用磁铁固定在钢架上，并具有用于投射激光束的孔（150）。 重量与框架中的每个方向自由度的激光束投影单元连接，并且通过自重停止在短时间内移动，以使激光束投影成为可能。 激光束投影单元（130）沿垂直方向投影激光束。 电源（140）向激光投射单元供电。
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公开(公告)号：KR100858926B1
公开(公告)日：2008-09-17
申请号：KR1020070010284
申请日：2007-01-31
Applicant: 고려대학교 산학협력단
Abstract: A traveling guide apparatus using a tag read system is provided to execute active traveling on the road by supplying the current congestion state of the road to a driver only through an RFID(Radio Frequency Identification) tag. A traveling guide apparatus using a tag read system is composed of: a tag reader(110) for receiving information about position and lane from plural RFID tags(101~106) through an RF(Radio Frequency) antenna; a navigation unit(120) for storing map information and matching the received position and lane information to map information; a user informing unit for displaying the matched map information on a monitor installed in a vehicle; and a collection server determining positions where the number of tag readers having access to plural RFID tags for the time set by a road administrator is over a critical value, as a congestion section and transmitting information about the congestion section to plural RFID tags.
Abstract translation: 提供使用标签读取系统的行进导向装置，通过仅通过RFID（射频识别）标签向驾驶员提供道路的当前拥挤状态，从而在道路上执行主动行驶。 使用标签读取系统的行进导向装置由以下部分组成：标签读取器，用于通过RF（射频）天线从多个RFID标签（101〜106）接收关于位置和通道的信息; 用于存储地图信息并将接收到的位置和车道信息匹配以映射信息的导航单元（120）; 用户通知单元，用于在安装在车辆上的监视器上显示匹配的地图信息; 以及收集服务器，确定由道路管理者设定的时间内具有访问多个RFID标签的标签读取器的数量超过临界值的位置，作为拥塞部分，并将关于拥塞部分的信息发送到多个RFID标签。
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公开(公告)号：KR100822738B1
公开(公告)日：2008-04-17
申请号：KR1020060123027
申请日：2006-12-06
Applicant: 고려대학교 산학협력단
Abstract: A method for changing the path plan of a mobile robot is provided to search for interconnection points by setting the maximum rectangles and then select candidate areas, so that a path is selected. An operational area of a mobile robot is set(120). The operational area is divided into a plurality of rectangles, which overlap with the contour of the operation area as much as possible(140). A connection graph representing the connection relationship of the rectangles is created(165). The intersection points between the rectangles and the contour of the operation area are created. A source point and a destination point are received, the rectangles having the source point and the destination point are searched, and the shortest path from the rectangle having the source point to the rectangle having the destination point is searched(230). A candidate area including the rectangles is selected. The path from the source point to the destination point includes only contact points so that the shortest path is selected.
Abstract translation: 提供了一种用于改变移动机器人的路径规划的方法，通过设置最大矩形来搜索互连点，然后选择候选区域，从而选择路径。 设置移动机器人的操作区域（120）。 操作区域被分成尽可能多地与操作区域的轮廓重叠的多个矩形（140）。 创建表示矩形的连接关系的连接图（165）。 创建矩形和操作区域轮廓之间的交点。 接收源点和目的地点，搜索具有源点和目的地点的矩形，并且搜索从具有源点的矩形到具有目的地点的矩形的最短路径（230）。 选择包括矩形的候选区域。 从源点到目标点的路径仅包括接触点，以便选择最短路径。
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