公开(公告)号：KR100979629B1

公开(公告)日：2010-09-01

申请号：KR1020080046197

申请日：2008-05-19

Applicant: 성균관대학교산학협력단

Inventor： 전재욱 ,  송태훈 ,  김기훈 ,  박종현 ,  박지환 ,  정순묵

IPC: G05D1/02

Abstract: 본 발명은 센서 데이터 실시간 모폴로지 처리 장치 및 이를 이용한 지능형 이동 로봇용 실시간 환경 지도(Environment Map) 작성 시스템 및 방법에 관한 것으로서, 보다 구체적으로는, 입력되는 센서 데이터 기반 영상 처리 알고리즘으로서 이진 모폴로지(binary morphology) 기법을 채택하되, 병렬처리가 가능하도록 한 센서 데이터 실시간 모폴로지 처리 장치 및 이를 이용한 지능형 이동 로봇용 실시간 환경 지도 작성 시스템 및 방법에 관한 것이다.

公开(公告)号：KR1020090126375A

公开(公告)日：2009-12-09

申请号：KR1020080052423

申请日：2008-06-04

Applicant: 성균관대학교산학협력단

Inventor： 전재욱 ,  정순묵 ,  송태훈 ,  박지환 ,  박종현

IPC: B25J13/08 ,  B25J5/00 ,  G05D1/02

Abstract: PURPOSE: A method of detecting outlines of obstacles, a mobile robot and a remote controller are provided to enhance recognition rate of a user over an obstacle by extracting outlines of obstacles using an ultrasonic sensor. CONSTITUTION: A method of detecting outlines of obstacles is as follows. Data is supplied from an ultrasonic sensor part of a mobile robot. Data indicates a first distance from the mobile robot to an obstacle(20). The outlines coordinates of the obstacle is obtained based on the first distance and a direction angle of the mobile robot. The outline of the obstacle is drawn on a map using the outlines coordinates. The mobile robot approaches to the obstacle within a specific distance. Data is supplied from an infrared sensor unit of the mobile robot. Data indicates a second distance from the mobile robot to the obstacle. The outlines of the obstacle are drawn with different colors on a map with the outlines coordinates connected in the predetermined direction according to the second distance.

Abstract translation: 目的：提供一种检测障碍物轮廓的方法，移动机器人和遥控器，以通过使用超声波传感器提取障碍物的轮廓来增强用户在障碍物上的识别率。 规定：检测障碍物轮廓的方法如下。 数据由移动机器人的超声波传感器部分提供。 数据表示从移动机器人到障碍物（20）的第一距离。 基于移动机器人的第一距离和方向角度获得障碍物的轮廓坐标。 使用轮廓坐标在地图上绘制障碍物的轮廓。 移动机器人在特定距离内接近障碍物。 数据由移动机器人的红外传感器单元提供。 数据表示从移动机器人到障碍物的第二距离。 障碍物的轮廓在地图上用不同的颜色绘制，其中轮廓坐标根据第二距离在预定方向上连接。

公开(公告)号：KR1020090120859A

公开(公告)日：2009-11-25

申请号：KR1020080046883

申请日：2008-05-21

Applicant: 성균관대학교산학협력단

Inventor： 전재욱 ,  정순묵 ,  송태훈 ,  박지환

IPC: G05D1/00 ,  G05D1/02 ,  H04Q9/04 ,  G06F3/0338

CPC classification number: G05D1/0011 ,  G05D1/02 ,  G06F3/0338 ,  H04Q9/04

Abstract: PURPOSE: A mobile robot remote control system and a method thereof using racing wheel providing force feedback are provided to allow an adjuster to recognize the avoidance direction and degree of the robot by transmitting the avoidance angle. CONSTITUTION: A distance information storing module(150) receives the value of a distance sensor from a mobile robot and stores interval distance information value from the sensor value. An expected collision range determining module(140) determines the collision estimated range by using the detected distance information value. An avoiding range determining module(130) determines rotation direction and rotation size of the robot. A racing wheel controller(120) supplies force feedback by driving the racing wheel according to the rotation size.

Abstract translation: 目的：提供一种移动机器人远程控制系统及其使用赛车轮提供力反馈的方法，以允许调节器通过发送避免角度来识别机器人的回避方向和程度。 构成：距离信息存储模块（150）从移动机器人接收距离传感器的值，并存储距离传感器值的间隔距离信息值。 预期碰撞范围确定模块（140）通过使用检测到的距离信息值来确定冲突估计范围。 避免范围确定模块（130）确定机器人的旋转方向和旋转尺寸。 赛车轮控制器（120）根据旋转尺寸驱动赛车轮来提供力反馈。

公开(公告)号：KR1020090092366A

公开(公告)日：2009-09-01

申请号：KR1020080017582

申请日：2008-02-27

Applicant: 성균관대학교산학협력단

Inventor： 전재욱 ,  송태훈 ,  박지환 ,  정순묵

IPC: G01B11/14 ,  G01B7/14 ,  G05D1/02

Abstract: A sensor fusion system and a sensor fusion method are provided to get a weighted value based on a sensor fusion table. A sensor fusion system comprises a first distance measuring sensor(20), a second distance measuring sensor(30), a fuzzy control part(10), an environment mapping module(40). The second distance measuring sensor has higher short location precision than the first distance measuring sensor. The fuzzy control part determines the sensor fusion weighted value based on the first purge linguistic variable and the second purge linguistic variable. The environment mapping module makes an environment map based on the sensor fusion weighted value on the measurement range of the first and the second distance measuring sensor.

Abstract translation: 提供了传感器融合系统和传感器融合方法，以获得基于传感器融合表的加权值。 传感器融合系统包括第一距离测量传感器（20），第二距离测量传感器（30），模糊控制部分（10），环境映射模块（40）。 第二测距传感器具有比第一距离测量传感器更高的定位精度。 模糊控制部分基于第一清除语言变量和第二清除语言变量来确定传感器融合加权值。 环境映射模块基于第一和第二测距传感器的测量范围上的传感器融合加权值进行环境映射。