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31.发明授权
公开(公告)号：KR101040219B1
公开(公告)日：2011-06-16
申请号：KR1020110009779
申请日：2011-01-31
Applicant: 국방과학연구소
IPC: B60W30/10 , B60W30/02 , B60W40/04 , B60W40/109
CPC classification number: B60W30/045 , B60T8/172 , B60T8/17554 , B60T2210/13 , B60T2250/04
Abstract: PURPOSE: A speed deciding device of an the automatically moving vehicle and the automatically moving vehicle with the same and a driving speed deciding method of the autonomic moving vehicle are provided to the automatically drive an unmanned vehicle by determining maximum driving speed after determining power science of the automatic vehicle. CONSTITUTION: A speed deciding device of an automatically moving vehicle includes the following steps: setting a driving course of the automatically moving vehicle with a current position, constant positions through steering and control of speed; determining whether the vehicle can be traveled or not after evaluating overturning stability with 3D surface information and vehicle information; evaluating sliding stability of the vehicles with curvature of running trance and the horizontal acceleration of the vehicles; determining test sped of the vehicle; performing driving simulation; evaluating dynamic stability of the vehicle based on the result of the real-time dynamic mechanics interpretation; and determining driving speed of each trace using stability evaluation result and task loading speed.
Abstract translation: 目的：提供具有相同自动移动车辆的自动移动车辆和自动移动车辆的速度判定装置以及自动车辆的驾驶速度决定方法，通过在确定动力科学之后确定最大行驶速度来自动驾驶无人驾驶车辆 自动车。 构成：自动移动车辆的速度决定装置包括以下步骤：通过转向和速度控制来设定具有当前位置的自动移动车辆的行驶路线，恒定位置; 在使用3D表面信息和车辆信息评估翻转稳定性之后，确定车辆是否可以行驶; 评估车辆运行恍惚曲率和车辆水平加速度的滑动稳定性; 确定车辆的测试速度; 进行驾驶模拟; 基于实时动力学解释的结果评估车辆的动态稳定性; 并使用稳定性评估结果和任务加载速度确定每个轨迹的行驶速度。
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公开(公告)号：KR1020110032333A
公开(公告)日：2011-03-30
申请号：KR1020090089767
申请日：2009-09-22
Applicant: 국방과학연구소
Abstract: PURPOSE: A wheel driving vehicle and a wheel contact sensing method thereof are provided to confirm the position control error of a wheel by sensing the contact of the wheel in various directions. CONSTITUTION: A wheel driving vehicle comprises a wheel(130) and a sensing unit. The wheel is rotatably installed in an arm(120) of a main body(110). The sensing unit senses a non-contact state that the wheel is separated from the ground. The sensing unit comprises a spring(141), first and second sensors, and a controller. When the arm is relatively rotated to the output shaft of an arm drive unit(121), the spring is stretched or compressed. The first and second sensors detect arm drive information and main body posture information. The controller detects the non-contact state of the wheel based on the measured length and reference length of the spring.
Abstract translation: 目的：提供车轮驱动车辆和车轮接触检测方法，以通过感测车轮在各个方向上的接触来确认车轮的位置控制误差。 构成：轮驱动车辆包括轮（130）和感测单元。 车轮可旋转地安装在主体（110）的臂（120）中。 感测单元感测到车轮与地面分离的非接触状态。 感测单元包括弹簧（141），第一和第二传感器以及控制器。 当臂相对于臂驱动单元（121）的输出轴旋转时，弹簧被拉伸或压缩。 第一和第二传感器检测臂驱动信息和主体姿势信息。 控制器根据弹簧的测量长度和参考长度来检测车轮的非接触状态。
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公开(公告)号：KR100933912B1
公开(公告)日：2009-12-28
申请号：KR1020090051953
申请日：2009-06-11
Applicant: 국방과학연구소
Abstract: PURPOSE: A portable robot controller and a robot control system with the same are provided to allow the user to select robot control method suitable for the current peripheral environment. CONSTITUTION: A portable robot controller comprises a mobile terminal(110) which indicates information about images captured by a robot(200) and the operation state of the robot and receives robot control commands, an operation device(120) which receives detailed commands related to the robot control commands and transmits them to the mobile terminal, and a wireless communication device(130) which receives the image information and operation state information from the robot and transmits them to the mobile terminal. The operation device includes a main body of joystick type in which a wireless communication module is installed and a handle is formed in a part, an operation part which is formed on the main body to receive the detailed commands, and a state indicator which is installed on one side of the main body to display the state of the operation device. The operation part includes a switch which is attached to the handle to function like a trigger.
Abstract translation: 目的：提供便携式机器人控制器及其机器人控制系统，以便用户选择适合当前周边环境的机器人控制方法。 构成：便携式机器人控制器包括：移动终端（110），其指示关于由机器人（200）捕获的图像的信息和机器人的操作状态并接收机器人控制命令;操作装置（120），其接收与 机器人控制命令并将其发送到移动终端;以及无线通信设备（130），其从机器人接收图像信息和操作状态信息，并将其发送到移动终端。 操作装置包括：操纵杆型主体，其中安装有无线通信模块并且在一部分中形成手柄;操作部，形成在主体上以接收详细命令;以及状态指示器，其被安装 在主体的一侧显示操作装置的状态。 操作部分包括一个开关，该开关连接到手柄以起到触发作用。
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Patent Agency Ranking
公开(公告)号：KR1020170096448A
公开(公告)日：2017-08-24
申请号：KR1020160017838
申请日：2016-02-16
Applicant: 국방과학연구소
Abstract: 본발명은위치추정기술에관한것으로서, 더상세하게는지도맵및/또는환경정보를이용하여자율이동차량의위치추정을보다정확히수행하기위한방법및 이의시스템에대한것이다.
Abstract translation: 本发明涉及位置估计技术，并且更具体地涉及一种方法和其系统，用于更精确地执行使用地图的地图和/或所述环境信息的自主移动车辆的位置估计。
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公开(公告)号：KR1020160133295A
公开(公告)日：2016-11-22
申请号：KR1020150066222
申请日：2015-05-12
Applicant: 국방과학연구소
Abstract: 본발명은, 높이의조절이가능하도록이루어지는길이확장장치, 상기길이확장장치의상측외부에설치되고, 일축을중심으로틸팅가능하도록이루어지는틸팅어셈블리, 상기길이확장장치의상측내부에구비되고, 상기틸팅어셈블리를상기일 축과교차하는축을중심으로회전시키는팬 구동부, 및상기길이확장장치의하단에연결되고, 상기길이확장장치의높이를조절하도록상기길이확장장치에구동력을제공하는구동장치를포함하는감시경계용소형로봇을제공한다.
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公开(公告)号：KR1020150104484A
公开(公告)日：2015-09-15
申请号：KR1020140026268
申请日：2014-03-05
Applicant: 국방과학연구소
CPC classification number: G05D1/0217 , G05D1/0214
Abstract: 자율 이동 차량의 경로 생성 방법이 개시된다. 본 발명의 실시예들은, 자율 이동 차량의 현위치를 파악하여 상기 현위치로부터 일정 반경내의 주행 영역에서 주행 방향을 가리키는 후보 아크 세트를 생성하는 단계와; 상기 후보 아크 세트의 각 후보 아크를 기준으로 주변 영역에 존재하는 장애물의 위치를 감지하는 단계와;상기 감지된 장애물의 개수정보 및 장애물과의 거리에 근거하여, 상기 후보 아크 세트의 각 후보 아크에 대한 제1 거리값을 산출하는 단계와; 상기 후보 아크 세트의 각 후보 아크가 가리키는 방향과 목표점지향각과의 편차정보에 근거하여 제2거리값을 산출하되, 상기 자율 이동 차량의 현위치와 상기 현위치로부터 가까운 제1지점 및 제2지점이 형성하는 곡률반경이 기준값 이하인 경우, 해당 곡률반경을 사용하여 상기 제2 거리값을 산출하는 단계와; 상기 후보 아크 및 세트에서 상기 제1 및 제2거리값의 합이 최소가 되는 후보 아크를 최적의 아크로 선택하고, 선택된 아크가 가리키는 방향과 회전곡률을 추종하도록 상기 자율 이동 차량의 경로를 생성하는 단계를 포함하여 이루어진다.
Abstract translation: 公开了一种生成自主车辆的路线的方法和装置，其能够规划适应于开放场中的各种环境变化的局部路线。 根据本发明的实施例，生成自主车辆的路线的方法包括：掌握自主车辆的当前位置以产生指示在预定半径内的驾驶区域中的行驶方向的弧候选集的步骤 从现在的位置; 检测存在于弧形候选组的每个弧形候选的周边区域中的障碍物的位置的步骤; 基于关于检测到的障碍物的数量和到障碍物的距离的信息来计算弧候选集合的每个弧候选的第一距离值的步骤; 基于圆弧候选集合的每个候选弧的方向指示的方向与目标点光束扩展角度之间的偏差信息计算第二距离值的步骤，但是如果形成曲率半径，则使用曲率半径计算第二距离值 通过自主车辆的当前位置和从当前位置接近的第一和第二点是参考值或更低; 并且选择具有作为最佳弧的弧候选中的第一和第二距离值的最小和的弧候选的步骤，并且生成自动车辆沿着所选弧指示的方向和旋转曲率的路线。
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公开(公告)号：KR1020140115514A
公开(公告)日：2014-10-01
申请号：KR1020130029967
申请日：2013-03-20
Applicant: 국방과학연구소
CPC classification number: G01S17/42 , G06T7/0008 , G06T7/62
Abstract: An object detection device comprises: a detection unit for acquiring the external environment, as an image, including at least one object in a predetermined direction in a predetermined position; a reference table including digital terrain data of the external environment and reference size information of the object corresponding to the distance to the detection unit; and a controller which calculates a distance to the object from the detection unit based on the reference table, the position and direction, and processes the object as a clutter if a difference between the size of the object and the corresponding reference size is greater than a predetermined range. Accordingly, the object detection device can acquire an image of an object except the clutter, thereby can more accurately detect the object.
Abstract translation: 一种物体检测装置，包括：检测单元，用于获取作为图像的外部环境，包括在预定位置上的预定方向上的至少一个物体; 参考表，其包括外部环境的数字地形数据和对应于到所述检测单元的距离的对象的参考尺寸信息; 以及控制器，其根据所述参考表，所述位置和方向，从所述检测单元计算到所述对象的距离，并且如果所述对象的尺寸与对应的参考尺寸之间的差大于 预定范围。 因此，物体检测装置可以获取除了杂波之外的物体的图像，从而可以更准确地检测物体。
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公开(公告)号：KR1020130061494A
公开(公告)日：2013-06-11
申请号：KR1020110127833
申请日：2011-12-01
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0276
Abstract: PURPOSE: A method for generating vehicular terrain data based on steering characteristics and a device thereof are provided to reduce calculations required for processing unnecessary terrain data for vehicle driving, thereby improving efficiency of real-time data processing. CONSTITUTION: A terrain information providing device(100) comprises a sensing unit(110), a calculation unit(120), a conversion unit(130), and a driving controller. The sensing unit acquires terrain information about a specific forward area of a vehicle. The calculation unit determines a path range of the vehicle from the specific forward area and extracts terrain information corresponding to the path range. The conversion unit converts the terrain information, which is extracted by the calculation unit, into data having a travelling direction of the vehicle as a reference axis. The driving controller controls driving of the vehicle using the converted terrain information. [Reference numerals] (110) Sensing unit; (120) Calculation unit; (130) Conversion unit; (AA) Body; (BB) Operation control unit
Abstract translation: 目的：提供一种基于转向特性及其装置产生车辆地形数据的方法，以减少用于车辆驾驶处理不必要的地形数据所需的计算，从而提高实时数据处理的效率。 构成：地形信息提供装置（100）包括感测单元（110），计算单元（120），转换单元（130）和驱动控制器。 感测单元获取关于车辆的特定向前区域的地形信息。 计算单元从特定前进区域确定车辆的路径范围，并提取与路径范围对应的地形信息。 转换单元将由计算单元提取的地形信息转换为具有作为参考轴的车辆行驶方向的数据。 驾驶控制器使用转换的地形信息来控制车辆的驾驶。 （附图标记）（110）感测单元; （120）计算单位; （130）转换单位; （AA）身体; （BB）操作控制单元
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