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公开(公告)号：KR1020110081452A
公开(公告)日：2011-07-14
申请号：KR1020100001622
申请日：2010-01-08
Applicant: 성균관대학교산학협력단
CPC classification number: G05D1/0261
Abstract: PURPOSE: A global position estimation and correction method for a mobile robot using a magnetic landmark is provided to easily estimate and correct a position error of a mobile robot which is out of sync with an estimated coordinate of the absolute position of the landmark. CONSTITUTION: A global position estimation and correction method for a mobile robot(10) using a magnetic landmark(21) comprises the following steps. A landmark pattern adjacent to a pattern of a specific landmark where the mobile robot is positioned is recognized. The coordinate of the absolute position of the landmark is estimated. A position error of the mobile robot, which is out of sync with the estimated absolute position coordinate, is estimated. The position error is corrected according to the estimated position error in order to move the mobile robot to the absolute position coordinate.
Abstract translation: 目的：提供一种使用磁性地标的移动机器人的全局位置估计和校正方法，以容易地估计和校正与地标的绝对位置的估计坐标不同步的移动机器人的位置误差。 构成：使用磁性地标（21）的移动机器人（10）的全局位置估计和校正方法包括以下步骤。 识别与移动机器人定位的特定地标的图案相邻的界标图案。 估计地标绝对位置的坐标。 估计与估计的绝对位置坐标不同步的移动机器人的位置误差。 根据估计的位置误差校正位置误差，以便将移动机器人移动到绝对位置坐标。
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公开(公告)号：KR1020110056660A
公开(公告)日：2011-05-31
申请号：KR1020090113075
申请日：2009-11-23
Applicant: 성균관대학교산학협력단
IPC: G01N21/954 , F16L1/11 , B25J5/00 , G01B21/32
Abstract: PURPOSE: A robot for inspection of a long pipeline is provided to freely move in straight and curved pipes without a separate steering member by differently distributing a driving force exerted on traveling members. CONSTITUTION: A robot for inspection of a long pipeline comprises an inspection unit for photographing or inspecting the interior of a pipeline and a relay unit(100) which comprises a relay cable(131) electrically connected to the inspection unit to extend the inspection range of the inspection unit. The relay unit comprises a winding part which accommodates the relay cable in a body and a moving part(140) which is installed on the exterior of the body to provide a driving force.
Abstract translation: 目的：用于检查长管道的机器人可以通过不同地分配施加在行进部件上的驱动力而自由地移动直线和弯曲的管道而没有单独的转向构件。 构成：用于检查长管道的机器人包括用于拍摄或检查管道内部的检查单元和中继单元（100），其包括电连接到检查单元的继电器电缆（131），以延长检查范围 检查单位。 中继单元包括容纳主体中的中继电缆的绕组部分和安装在主体外部以提供驱动力的移动部件（140）。
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公开(公告)号：KR1020110023339A
公开(公告)日：2011-03-08
申请号：KR1020090081146
申请日：2009-08-31
Applicant: 성균관대학교산학협력단
CPC classification number: B25J15/0009
Abstract: PURPOSE: A humanoid robot hand is provided to vary the motion range of the robot hand because a link unit is composed of three separated joint units. CONSTITUTION: A humanoid robot hand(100) comprises a thumb unit(130), a forefinger unit(121), and a link unit(150). The link unit connects the thumb unit and the forefinger unit. The link unit supports an object grasped by the thumb unit and the forefinger unit. The link unit comprises multiple link joints and multiple rods. The rods are rotatably connected to the link joint units.
Abstract translation: 目的：提供类人形机器人手，以改变机器人手的运动范围，因为链接单元由三个分离的关节单元组成。 构造：人形机器人手（100）包括拇指单元（130），食指单元（121）和连杆单元（150）。 连接单元连接拇指单元和食指单元。 链接单元支撑由拇指单元和食指单元掌握的对象。 连杆单元包括多个连杆接头和多个杆。 杆可旋转地连接到连杆接头单元。
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公开(公告)号：KR1020100041641A
公开(公告)日：2010-04-22
申请号：KR1020080108445
申请日：2008-11-03
Applicant: 성균관대학교산학협력단
Abstract: PURPOSE: A pipe inspection robot system based on landmark recognition method using inner shadows of a pipe is provided to presume present position by processing shadows of a bent pipe and a branch pipe generated by a front illumination of the robot. CONSTITUTION: A pipe inspection robot system based on landmark recognition method using inner shadows of a pipe comprises a lighting device(60). A camera photographs shadows formed on a lighting device. A control module(20) enables binarization, thresholding, and mopology opening and closing operation. Area filtering is enabled to remove shadows. Pattern matching is enabled to check whether shadow area obtained through labeling and area filtering is the shadow of the piping.
Abstract translation: 目的：提供一种基于使用内管阴影的地标识别方法的管道检查机器人系统，通过处理由管道和由机器人的前照明产生的分支管的阴影来设定当前位置。 构成：基于使用管道内阴影的地标识别方法的管道检查机器人系统包括照明装置（60）。 相机拍摄照明设备上形成的阴影。 控制模块（20）能够进行二值化，阈值处理以及开始和关闭操作。 启用区域过滤以删除阴影。 模式匹配可以检查通过标签和区域过滤获得的阴影区域是否是管道阴影。
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公开(公告)号：KR1020180127088A
公开(公告)日：2018-11-28
申请号：KR1020170062451
申请日：2017-05-19
Applicant: 성균관대학교산학협력단
Abstract: 본발명은조인트모듈및 이를이용한모터조립체에관한것이다. 본발명에의한조인트모듈은, 베이스플레이트; 상기베이스플레이트의중심을지나는소정축을기준으로회전하는회전체, 일단부가상기소정축에서이격된상기회전체상의위치에핀결합하는제1바아, 및일단부가상기소정축에서이격된상기베이스플레이트상의위치에핀결합하고타단부가상기제1바아에핀결합하는제2바아로구성되는선형화수단; 및일단부가상기제1바아의타단부에연결되고, 타단부가상기베이스플레이트의가장자리에연결되는제1코일스프링;을포함하여이루어지되, 상기제1바아의타단부가, 상기베이스플레이트와상기회전체의회전각차에의해선형적으로이동하도록상기제1바와상기제2바가배치되는것을특징으로한다. 이에의하여, 단순한구성으로보행로봇에가해지는외력을용이하게측정하는것이가능하다.
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Patent Agency Ranking
公开(公告)号：KR1020180113114A
公开(公告)日：2018-10-15
申请号：KR1020170044390
申请日：2017-04-05
Applicant: 성균관대학교산학협력단
Abstract: 케이블그립장치에관한발명이개시된다. 개시된케이블그립장치는, 하우징부와, 하우징부에구비되며, 케이블부가안착되는케이블안착부와, 하우징부에이동가능하게구비되어케이블안착부와의거리가조절되는그립이동부와, 그립이동부의이동에따라케이블부에접하는정렬롤러부가구비되며정렬롤러부가회전되어케이블부의위치를정렬하는케이블정렬부를포함하는것을특징으로한다.
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公开(公告)号：KR101727410B1
公开(公告)日：2017-04-27
申请号：KR1020150159754
申请日：2015-11-13
Applicant: 성균관대학교산학협력단
Abstract: 본발명은변속기를이용한배관검사용이동로봇에관한것으로서, 본발명에따른변속기를이용한배관검사용이동로봇은, 주행동력공급부가구비되는로봇본체;와, 상기로봇본체에회동가능하게연결되는제1지지암과, 상기주행동력공급부로부터출력되는회전력을전달받아배관의내벽을따라주행하도록상기제1지지암의말단부에배치되는능동휠을구비한능동주행부;와, 상기주행동력공급부로부터제공되는회전력의회전속도를변속비에따라조절하여상기능동주행부로전달하는변속부; 및일단부는상기제1지지암에연결되고타단부는상기변속부에연결되어상기제1지지암의회동각에따라변속부의변속비를조절하는변속비조절부;를포함하는것을특징으로한다.
Abstract translation: 根据本发明的用于使用变速器容易检查管道的机器人包括：机器人主体，其具有驱动电源单元;第一支撑构件，其可旋转地连接到机器人主体; 以及设置在所述第一支撑臂的远端处的主动轮，以接收从所述驱动电源输出的旋转力并且沿着所述管的内壁行进， 变速部分，其根据传动比调节前轮速度，并将后轮速度传送给主动驱动部分; 和一个端部连接到所述第一支撑臂和另一端，其控制发送部根据连接至所述第一支撑臂的旋转角度的速度比所述变速部分的变速比控制部;其特征在于它包括：a。
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公开(公告)号：KR101573573B1
公开(公告)日：2015-12-07
申请号：KR1020130065159
申请日：2013-06-07
Applicant: 성균관대학교산학협력단
Abstract: 본발명은유압액추에이터의제어장치에관한것으로서, 본발명에따른유압액추에이터의제어장치는, 유압기계에설치되며, 일측과타 측에작동유체가출입가능한제1출입단과제2출입단이형성된하우징과, 상기하우징내부에설치되며, 상기작동유체의공급에따라상기제1출입단과상기제2출입단사이에서직선운동또는회전운동을하여토크값을출력하는액추에이터를포함하는유압액추에이터; 상기하우징의제1출입단과제2출입단에연결되며, 상기액추에이터가운동하도록작동유체를공급하는유량제어밸브; 열전소자로마련되며, 상기하우징내부의작동유체의온도를조절하도록상기유압액추에이터의내부중 상기작동유체가유입되는측과상기작동유체가배출되는측에각각설치되는누설유량조절부; 상기유압액추에이터와상기유량제어밸브의사이에위치하여통과하는작동유체의온도를조절하도록설치되는열전소자로이루어진유량조절부; 상기유량조절부전후양단중 적어도어느하나에설치되어통과하는작동유체의온도를측정하는온도센서; 및, 상기유압액추에이터에서출력되는토크값과설정된토크값을비교하여상기하우징과상기액추에이터사이에서누설되는누설유량이조절되도록상기누설유량조절부를제어하고, 상기온도센서의측정값과설정된기준값과비교하여상기작동유체의유량이조절되도록작동유체의온도를제어하는컨트롤러;를포함하는것을특징으로한다. 이에의하여, 유압액추에이터내부에서작동유체의온도를조절하거나압력변경이가능한누설유량조절부를통해유압액추에이터내부에서누설되는유량을조절함으로써유압액추에이터의토크값을정밀하게제어할수 있고, 유압액추이터유닛에공급되는작동유체의온도를조절하거나압력변경이가능한유량조절부를통해유압액추에이터로공급되는작동유체의유량을조절함으로써유압액추에이터의토크값을정밀하게제어할수 있는유압액추에이터의제어장치가제공된다.
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