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公开(公告)号：KR101298088B1
公开(公告)日：2013-08-22
申请号：KR1020110120433
申请日：2011-11-17
Applicant: 재단법인대구경북과학기술원
CPC classification number: B25J5/00 , B25J9/161 , B62D57/02 , H02N2/0075 , H02N2/0095 , Y10S901/01
Abstract: 본 발명은 1회의 전압 공급으로 2자유도 동작을 실행할 수 있는 복수개의 피에조다리(Piezo-legs)와, 간단한 구조로 복잡한 행동패턴을 모델링할 수 있는 일체형 인공신경망 행동제어기를 이용한 초소형 다족로봇에 관한 것으로, 본 발명의 초소형 다족로봇은 본체와; 바이몰프 압전체(bimorph piezoelectric element)로 이루어지며, 상기 본체에 연결되어, 인가되는 전압에 의해 2방향으로의 형태적 변형을 통한 운동을 일으켜 바닥을 따라 이동하는 복수개의 피에조다리(piezo-legs)와; 외부센서로부터 전달된 외부 환경에 대한 정보와 상기 피에조다리가 바닥면에 닿으면서 전달되는 전기신호를 피드백하여 이동 패턴을 제어하는 인공신경망 행동제어기를 구비하여 상기 각각의 피에조다리에 인가되는 전압을 제어하는 제어부를 포함하는 것을 특징으로 한다.
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公开(公告)号：KR1020130081353A
公开(公告)日：2013-07-17
申请号：KR1020120002257
申请日：2012-01-09
Applicant: 재단법인대구경북과학기술원
IPC: H02P27/04
Abstract: PURPOSE: A compensation method for inverter output distortion caused by dead time and switch voltage drops and a device thereof are provided to easily increase/decrease compensation quantity for the distortion of inverter output based on the direction of a current, thereby compensating for the distortion of an output current without adding hardware. CONSTITUTION: A pulse width modulation (PWM) inverter (1) includes a PWM control part (2), a switch (3), a current determination part (5), and a distortion compensation part (6). The PWM control part applies a PWM pulse to the switch. The current determination part detects the polarity of an inverter output current. The distortion compensation part adds/subtracts compensation quantity to/from initial duty according to the polarity of the inverter output current detected from the current determination part.
Abstract translation: 目的：提供由死区时间和开关压降引起的逆变器输出失真的补偿方法及其装置，以便根据电流方向容易地增加/减少逆变器输出失真的补偿量，从而补偿 输出电流，无需添加硬件。 构成：脉宽调制（PWM）逆变器（1）包括PWM控制部分（2），开关（3），电流确定部分（5）和失真补偿部分（6）。 PWM控制部分向开关施加PWM脉冲。 电流判定部检测逆变器输出电流的极性。 失真补偿部根据从当前判定部检测到的逆变器输出电流的极性，向初始占空比增减补偿量。
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公开(公告)号：KR101270125B1
公开(公告)日：2013-05-31
申请号：KR1020110120420
申请日：2011-11-17
Applicant: 재단법인대구경북과학기술원
CPC classification number: Y02P90/50
Abstract: 본발명은신재생에너지인배터리전원, 연료전원, 그리고태양광전원을이용하여로봇에안정적이고다양한구동전원을제공할수 있도록한 신재생에너지로구동되는로봇의전원관리장치및 방법에관한것으로, 복수의에너지소스를사용하여기동하는로봇;상기로봇의동체에구성되어, 현재사용되고있는에너지소스의잔량을판단하여기동을위해사용되는에너지소스를변경하고, 전체에너지소스의에너지잔량을주기적으로확인하여전체에너지소스의에너지가소진되기이전에로봇이자동충전기로이동할수 있도록제어하는전원측정장치;상기전원측정장치와무선통신을하고, 로봇의자동충전을수행하는자동충전기;를포함하는것이다.
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公开(公告)号：KR1020130054809A
公开(公告)日：2013-05-27
申请号：KR1020110120420
申请日：2011-11-17
Applicant: 재단법인대구경북과학기술원
CPC classification number: Y02P90/50
Abstract: PURPOSE: A power managing apparatus of robot which is driven by a new regenerative energy and a method thereof are provided to provide various stable driving powers to a robot. CONSTITUTION: A power managing apparatus of robot includes a robot(100) and an automatic charger(200). The robot moves by using multiple energy sources and is equipped with a power measuring unit. The power measuring unit is installed in a fuselage of robot, determines a residual quantity of an energy source which is currently used, and changes the energy source which is used for moving. The power measuring unit controls a movement to an automatic charger of robot before exhausting energy by periodically confirming a residual quantity of total energy sources. The automatic charger wirelessly communicates with the power measuring unit and automatically charges the robot. [Reference numerals] (100) Regular monitoring robot; (200) Automatic charger; (AA) Power measuring apparatus(residual quantity)
Abstract translation: 目的：提供由新的再生能量驱动的机器人的动力管理装置及其方法，以向机器人提供各种稳定的驱动力。 构成：机器人的电源管理装置包括机器人（100）和自动充电器（200）。 机器人通过使用多个能量来移动，并配备有功率测量单元。 功率测量单元安装在机器人的机身中，确定当前使用的能量源的剩余量，并且改变用于移动的能量源。 功率测量单元通过周期性地确认总能量的剩余量来控制机器人自动充电器的运动，然后排放能量。 自动充电器与功率测量单元无线通信，并自动对机器人充电。 （附图标记）（100）定期监视机器人; （200）自动充电器; （AA）功率测量装置（剩余量）
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公开(公告)号：KR1020130053979A
公开(公告)日：2013-05-24
申请号：KR1020110119728
申请日：2011-11-16
Applicant: 재단법인대구경북과학기술원
CPC classification number: Y02T30/40
Abstract: PURPOSE: A robot for checking conditions of a track is provided to prevent safety accident due to derailment caused by malfunction of the track by measuring damage of the track and the width of the track through a sensor unit. CONSTITUTION: A robot for checking conditions of a track comprises a body(110), a mobile unit(120), a sensor unit(130), a control unit, and a battery(150). A camera(112) for autonomous driving is mounted on the front surface of the body. The mobile unit is positioned on both side of the body and moves the body. The sensor unit is positioned on both sides of the body and both upper ends. The sensor unit measures the width of the track and damage of the track. The control unit drives the mobile unit and analyzes data measured in the sensor unit. The battery is built in the body and supplies a power source to drive the mobile unit.
Abstract translation: 目的：提供用于检查轨道状况的机器人，以通过测量轨道的损坏和通过传感器单元的轨道宽度来防止由轨道故障引起的脱轨造成的安全事故。 构成：用于检查轨道条件的机器人包括主体（110），移动单元（120），传感器单元（130），控制单元和电池（150）。 用于自主驾驶的照相机（112）安装在身体的前表面上。 移动单元位于身体的两侧并移动身体。 传感器单元位于主体的两侧和两个上端。 传感器单元测量轨道的宽度和轨道的损坏。 控制单元驱动移动单元并分析在传感器单元中测量的数据。 电池内置在机身中，并提供电源驱动移动单元。
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Patent Agency Ranking
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公开(公告)号：KR101181258B1
公开(公告)日：2012-09-10
申请号：KR1020100019691
申请日：2010-03-05
Applicant: 재단법인대구경북과학기술원
Abstract: 본 명세서에서는 무선 네트워크에 기반하여 다수의 로봇의 이동을 제어하는 방법과 장치를 제공한다
본 명세서의 일 실시 예에 따른 무선 네트워크에 기반하여 다수의 로봇의 이동을 제어하는 장치는 로봇의 이동을 제어하는 명령을 생성하는 원격 제어 명령 생성부, 상기 생성된 명령을 무선 네트워크 통신 데이터로 변환하는 네트워크 제어부, 상기 네트워크 제어부에서 변환한 무선 네트워크 통신 데이터를 로봇에 송신하고, 송신된 무선 네트워크 통신 데이터의 실행 결과를 로봇으로부터 수신하는 송수신부, 및 상기 원격 제어 명령 생성부 및 송수신부에 소정의 명령을 지시하거나 또는 결과를 표시하는 사용자 인터페이스부를 포함한다.-
公开(公告)号：KR1020120092833A
公开(公告)日：2012-08-22
申请号：KR1020110012703
申请日：2011-02-14
Applicant: 재단법인대구경북과학기술원
IPC: H01L31/0445 , H01L31/18
CPC classification number: Y02E10/50 , Y02P70/521 , H01L31/0445 , H01L31/18
Abstract: PURPOSE: A method for manufacturing a light absorption layer of a thin film solar cell is provided to minimize the loss of VIA family material evaporated in the thermal treatment process. CONSTITUTION: An electrode layer(110) is formed on a substrate(120). A precursor layer(130) is formed on the electrode layer using a solution process. The precursor layer comprises material of an I-III system, an I-III-VI system, and an I-II-IV-VI system. A VIA family layer(140) is formed by spreading VIA family material on the precursor layer. A cover plate(150) is arranged on the VIA family layer. The cover plate comprises material containing Na.
Abstract translation: 目的：提供一种用于制造薄膜太阳能电池的光吸收层的方法，以最小化在热处理过程中蒸发的VIA族材料的损失。 构成：在基板（120）上形成电极层（110）。 使用溶液法在电极层上形成前体层（130）。 前体层包括I-III系统，I-III-VI系统和I-II-IV-VI系统的材料。 VIA族层（140）通过将VIA族材料铺展在前体层上而形成。 盖板（150）布置在VIA系列层上。 盖板包含含有Na的材料。
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公开(公告)号：KR101138781B1
公开(公告)日：2012-04-24
申请号：KR1020080126068
申请日：2008-12-11
Applicant: 재단법인대구경북과학기술원
IPC: G01C21/34 , G08G1/0969
Abstract: PURPOSE: Obstacle density based route schedule method and apparatus are provided to perform an intelligent route schedule and a route schedule based on the knowledge information of a dynamic obstacle and a static obstacle. CONSTITUTION: An obstacle density based route schedule apparatus(100) comprises an obstacle density calculator(110), a clustering unit(120), and a route schedule output unit(130). The obstacle density calculator calculates the obstacle density on each cell by classifying an image on a cell basis. The clustering unit groups each cell to one or more groups. The route schedule output unit outputs the routing schedule by performing a gene algorithm using the obstacle density of each cell and the information on one or more groups. The obstacle density calculator calculates the obstacle density by calculating the occupying ratio of black and white for the fixed obstacle and the brightness value of a pixel for the dynamic obstacle, on a pixel basis for each cell.
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