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公开(公告)号：KR1020150034361A
公开(公告)日：2015-04-03
申请号：KR1020130114335
申请日：2013-09-26
Applicant: 한국전자통신연구원
CPC classification number: G05D1/0225 , G05D2201/0207 , Y10S901/01
Abstract: 회수장치를구비한이동로봇이제공되며, 몸체(Body)에장착되는적어도하나의이동부재, 이동로봇으로전원을공급하도록이동로봇의일측에연결된전선부재, 전선부재의강성(Rigidity)보다높은강성을가지고, 전선부재를그 내부에위치시켜전선부재를감싸도록구비되는회수부재, 회수부재를수발하는회수기구를포함한다.
Abstract translation: 本发明提供了一种具有收集装置的移动机器人，并且包括：安装在主体上的至少一个移动构件; 连接到所述移动机器人的一侧以向所述移动机器人供电的线构件; 收集构件，具有比所述线构件的刚性更高的刚性，并且通过将所述线构件定位在其中来包围所述线构件; 以及辅助收集构件的收集机构。
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公开(公告)号：KR1020140062647A
公开(公告)日：2014-05-26
申请号：KR1020120128832
申请日：2012-11-14
Applicant: 한국전자통신연구원
Inventor： 이유철
CPC classification number: G06T17/05 , G09B29/003
Abstract: A producing method of an indoor space map of the present invention comprises: a process of collecting a space environment information measured via a space environment sensor to produce an indoor space map; a process of producing a nod information package by supplying IDs to the collected space environment information; a process of producing an indoor map by marking the position of each nod on the map based on the produced nod information package; a process of dividing the produced indoor map into multiple sections; a process of setting important points on a plurality of specific points on the indoor map divided into a plurality of sections respectively; and a process of modifying the indoor map to a desired form by warping based on the map information and the section information by moving and rotating selected important points among the set of the plurality of important points.
Abstract translation: 本发明的室内空间图的制造方法包括：收集经由空间环境传感器测量的空间环境信息以产生室内空间图的处理; 通过向收集的空间环境信息提供ID来产生点头信息包的过程; 基于产生的点头信息包，通过在地图上标记每个点头的位置来生成室内地图的过程; 将生成的室内地图划分成多个部分的过程; 分别在室内地图上的多个特定点上设置重要点的处理，该多个特定点被划分为多个部分; 以及通过在所述多个重要点的集合中移动和旋转所选择的重要点，通过基于所述地图信息和所述区间信息的弯曲将所述室内地图修改为期望的形式的处理。
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公开(公告)号：KR1020110046212A
公开(公告)日：2011-05-04
申请号：KR1020090128336
申请日：2009-12-21
Applicant: 한국전자통신연구원 , 에스케이텔레콤 주식회사 , 에스케이플래닛 주식회사
CPC classification number: G01C15/00 , G05D1/024 , G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0207 , G05D2201/0216
Abstract: PURPOSE: A method and device for mapping an artificial mark and a method and device for measuring the position of a moving body using the same are provided to measure the position of the moving body by using a coordinate value of an artificial mark stored in a map information DB and the relative position information of the artificial mark. CONSTITUTION: An environment information obtaining unit measures the position information of surrounding objects with an artificial mark and the position information of the moving body. An artificial mark detector(106) obtains the image of the artificial mark. An artificial mark detecting block(110) calculates the relative position information of the artificial mark by analyzing the obtained image, the position information of the surrounding objects, and the position information of the moving body. A mapping unit(114) calculates the coordinate of the artificial mark by using the relative position information and stores the coordinate and the ID of the artificial mark in a database(116) as map information.
Abstract translation: 目的：提供用于映射人造标记的方法和装置，以及用于测量使用其的移动体的位置的方法和装置，以通过使用存储在地图中的人造标记的坐标值来测量移动体的位置 信息DB和人造标记的相对位置信息。 构成：环境信息获取单元用人造标记和移动体的位置信息来测量周围物体的位置信息。 人造标记检测器（106）获得人造标记的图像。 人造标记检测块（110）通过分析所获得的图像，周围物体的位置信息和移动体的位置信息来计算人造标记的相对位置信息。 映射单元（114）通过使用相对位置信息计算人造标记的坐标，并将人造标记的坐标和ID作为地图信息存储在数据库（116）中。
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Patent Agency Ranking
公开(公告)号：KR100917756B1
公开(公告)日：2009-09-15
申请号：KR1020070133678
申请日：2007-12-18
Applicant: 한국전자통신연구원
Abstract: 본 발명은 자율이동로봇의 자율주행을 위한 지도 생성에 관한 것이다. 즉, 본 발명에서는 실내 환경에 대한 물리적 치수가 도시되어 있는 도면을 통해 자율이동로봇에 주행기술에 사용하기에 적합한 격자지도를 저비용으로 정확하게 획득함으로써, 종래에 사람이 직접 물리적 수치를 측정하여 지도를 작성하는 것 보다 소요되는 시간을 줄여 저비용으로 격자지도 작성이 가능하다. 또한, 종래에 자율이동로봇에 장착되어 있는 거리측정 센서와 인코더 정보를 활용하여 지도를 작성하는 방법은 실내구조가 복잡할수록 지도를 작성하지 못 하거나 잘못된 지도를 획득할 가능성이 높았으나, 본 발명에서는 도면을 기반으로 격자지도를 작성하기에 복잡한 실내 환경에서도 정확한 지도를 획득할 수 있다.
자율이동, 로봇, 격자, 지도, 벡터, 이미지-
公开(公告)号：KR100867375B1
公开(公告)日：2008-11-06
申请号：KR1020070038144
申请日：2007-04-19
Applicant: 한국전자통신연구원
IPC: G05D3/12
Abstract: 본 발명의 3개의 자기장 센서를 이용한 이동체의 위치 및 방향 정보 측정 방법은 x, y축으로 이루어진 면에 각각 대응하는 2개의 자기장 센서를 상기 이동체에 설치하고, z축에 대응하여 자기장 센서를 상기 이동체에 설치하는 설치단계와, 이동체는 상기 각각의 x, y, z축에 해당하는 지구자기장을 측정하여 기준 자기장의 정보값을 내부의 메모리에 저장하는 저장단계와, 이동체가 이동하면서 x, y, z축에 자기장의 크기를 측정한 후에 측정된 z축 자기장 값과 z축 기준 자기장값 차의 절대값이 자기장 센서가 가지는 오차범위보다 작은지의 여부를 판단하는 판단단계와, 판단단계에서 판단하여 z축의 측정값과 기준값의 차이의 절대값이 센서의 오차범위보다 작다면, x, y축 자기장 측정값을 활용하여 이동체의 방향 정보값을 갱신시키는 갱신단계로 이루어지는 것을 특징으로 하므로, 오차가 누적되지 않아 정확한 위치 및 방향을 획득할 수 있는 효과가 있다.
이동체, 나침반, 자기장 간섭 차폐, 방향 정보-
公开(公告)号：KR1020080084435A
公开(公告)日：2008-09-19
申请号：KR1020070026154
申请日：2007-03-16
Applicant: 한국전자통신연구원
CPC classification number: G01C22/025 , G01C21/10 , G01S5/0294 , G05D1/027
Abstract: A position estimation method and system, and a recording medium for recording the method, using an odometer and a direction sensor are provided to remove the need of an external observation sensor by using a direction angle as a reference observation value by receiving moving distances along X and Y axes and a direction disparity value for calculating the present position of the moving body. A position estimation system using an odometer and a direction sensor(20) comprises an X shaft switching part(6), a Y shaft switching part(4), a direction disparity sensor(10), and a Karman filter(40). The X shaft switching part calculates a moving distance along an X axis by multiplying cos(Theta(t)) by an absolute position disparity volume. The Y shaft switching part calculates a moving distance along a Y axis by multiplying sin(Theta(t)) by the absolute position disparity volume. The direction disparity sensor detects a direction disparity value by using reference direction information from the direction sensor. The Karman filter calculates the present position of the moving body by receiving the moving distances along X and Y axes and the direction disparity value. An input value generating part(12) calculates an input value inputted to the Karman filter by using the Jacobian matrix.
Abstract translation: 提供一种位置估计方法和系统以及用于记录方法的记录介质，使用里程表和方向传感器，通过使用方向角作为基准观测值，通过接收沿着X的移动距离来消除对外部观察传感器的需要 Y轴和用于计算移动体的当前位置的方向视差值。 使用里程表和方向传感器（20）的位置估计系统包括X轴切换部（6），Y轴切换部（4），方向视差传感器（10）和卡曼过滤器（40）。 X轴切换部通过将cos（θ（t））乘以绝对位置视差体积来计算沿着X轴的移动距离。 Y轴切换部通过将sin（Theta（t））乘以绝对位置视差体积来计算沿着Y轴的移动距离。 方向视差传感器通过使用来自方向传感器的参考方向信息来检测方向视差值。 卡曼滤波器通过接收沿X轴和Y轴的移动距离和方向视差值来计算移动体的当前位置。 输入值生成部（12）通过使用雅可比矩阵来计算输入到卡曼滤波器的输入值。
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47.发明授权
公开(公告)号：KR100823739B1
公开(公告)日：2008-04-21
申请号：KR1020060124884
申请日：2006-12-08
Applicant: 한국전자통신연구원
CPC classification number: G05D1/0274 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0207
Abstract: A mapping apparatus and method in a mobile robot are provided to reflect change of surrounding conditions on the map by using a mobile robot to collect surrounding information. A conveyance part(120) conveys a mobile robot according to an input command. A distance measurement part(140) measures a distance from the mobile robot to an object positioned in the vicinity of the mobile robot. A mapping part(180) makes a map based on the measured distance. A mobile robot detector(150) compares a distance to an object of the map from the mobile robot, which is measured after mapping, with the measured distance of the distance measurement part after the map is made. The moving device detector detects the object based on the comparison result. An object movement detector(160) detects the movement state of the object in the area of the map. A controller(110) reflects changed information about surroundings to update the map.
Abstract translation: 提供了一种移动机器人中的映射设备和方法，以通过使用移动机器人来收集周围信息来反映地图上的周围条件的变化。 输送部（120）根据输入指令传送移动机器人。 距离测量部件（140）测量从移动机器人到位于移动机器人附近的物体的距离。 映射部分（180）基于测量的距离制作地图。 移动机器人检测器（150）将映射之后测量的来自移动机器人的地图的距离与测绘地图之后的测量距离进行比较。 移动装置检测器基于比较结果来检测物体。 物体运动检测器（160）检测物体在地图区域中的移动状态。 控制器（110）反映关于周围环境的改变的信息以更新地图。
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公开(公告)号：KR1020070015033A
公开(公告)日：2007-02-01
申请号：KR1020060070839
申请日：2006-07-27
Applicant: 한국전자통신연구원
CPC classification number: A63H11/00 , A63H17/36 , A63H2200/00 , G01B21/32
Abstract: An apparatus for detecting movement of attached connection unit is provided to measure pulled extent, direction and length of the attached connection unit such as a necklace or a cable. An apparatus for detecting movement of an attached connection unit includes a connection unit, and a length detection part(130). The connection unit has one end connected to an inner part of the apparatus, and the other end disposed to the outside of the apparatus through one side of the apparatus. The length detection part measures a length pulled out of the apparatus. The length detection part includes a rotary reel, and a rotary measurement part. The rotary reel is connected to one end of the connection unit, and wounds the connection unit. The rotary measurement part measures an extent of rotation of the reel when the connection unit is pulled, and measures a length in which the connection unit is pulled.
Abstract translation: 提供一种用于检测附接的连接单元的移动的装置，以测量所连接的连接单元（例如项链或电缆）的拉伸程度，方向和长度。 一种用于检测附接的连接单元的移动的装置包括连接单元和长度检测部分（130）。 连接单元的一端连接到设备的内部，另一端通过设备的一侧设置在设备的外部。 长度检测部分测量从设备拉出的长度。 长度检测部包括旋转卷轴和旋转测量部。 旋转卷轴连接到连接单元的一端，并缠绕连接单元。 旋转测量部分在连接单元被拉动时测量卷轴的旋转程度，并测量连接单元被拉动的长度。
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