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公开(公告)号：KR1020140140285A
公开(公告)日：2014-12-09
申请号：KR1020130060916
申请日：2013-05-29
Applicant: 고려대학교 산학협력단
CPC classification number: G06T7/33 , G06K9/3208 , G06K9/6202 , G06K9/6214 , G06T7/246
Abstract: 본 발명은, 영상 입력부를 통하여 입력되는 신호를 영상 정보로 처리하는 영상 입력 처리 단계와, 상기 영상 정보로부터 코너 특징을 포함하는 특징을 추출 확인하는 특징 추출 단계와, 상기 특징 추출 단계에서 추출된 코너 특징을 사전 설정된 코너 특징 분류 기준에 따라 분류하는 특징 분류 단계와, 상기 특징 분류 단계에서 분류된 코너 특징을 이용하여 정합하는 특징 정합 단계를 포함하는 정합속도 증강 영상 인식 방법을 제공한다.
Abstract translation: 本发明提供一种用于以改进的匹配速度识别图像的方法，包括：图像输入处理步骤，用于处理通过图像输入单元输入的信号作为图像信息; 特征提取步骤，提取并确认包括图像信息的角特征的特征; 特征分类步骤，根据预设的角特征分类标准对在特征提取步骤中提取的角特征进行分类; 以及使用在特征分类步骤分类的角特征来彼此匹配特征的特征匹配步骤。
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公开(公告)号：KR1020140106899A
公开(公告)日：2014-09-04
申请号：KR1020130021147
申请日：2013-02-27
Applicant: 고려대학교 산학협력단
Abstract: The present invention provides a gear type gravity compensation unit comprising a base unit; a torque transmission unit which is rotatably disposed on the base unit to transmit torque to the outside of the base; and a torque gravity compensation unit which includes a compensation gear unit interoperable with the torque transmission unit to generate counter torque for compensating for external input torque inputted from the outside through the torque transmission unit.
Abstract translation: 本发明提供一种齿轮式重力补偿单元，其包括基座单元; 转矩传递单元，其可旋转地设置在所述基座单元上以将扭矩传递到所述基座的外部; 以及扭矩重力补偿单元，其包括可与扭矩传递单元相互配合的补偿齿轮单元，以产生用于补偿通过扭矩传递单元从外部输入的外部输入扭矩的反转矩。
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公开(公告)号：KR1020130101913A
公开(公告)日：2013-09-16
申请号：KR1020120023033
申请日：2012-03-06
Applicant: 고려대학교 산학협력단
Abstract: PURPOSE: A device and a method for planning a driving path of robots are provided to generate a stable driving path because a driving path which is suitable for real circumstances can be newly generated. CONSTITUTION: A device for planning a driving path of robots comprises a mapping unit, a cost calculating unit, and a path planning unit. The mapping unit draws an information grid map by setting an inducing area assuring driving stability of the robot relative to each grid and a dangerous area which collision dangerousness with unexpected obstacles is high. The cost calculating unit calculates a driving cost relative to each grid by considering properties of each grid around a driving target point of the robot. The cost calculating unit calculates the driving cost by considering properties relative to the inducing area and the dangerous area. The path planning unit generates the driving path of the robot for a driving to the driving target point along an adjacent grid having a minimum driving cost from a current point of the robot. [Reference numerals] (AA) Target point; (BB,DD,FF) Route; (CC) Danger area; (EE) Position of a robot; (GG) Area where the robot is guided
Abstract translation: 目的：提供一种用于规划机器人的驱动路径的装置和方法以产生稳定的驾驶路径，因为可以新生成适合于真实情况的驾驶路径。 规定：用于规划机器人行驶路径的装置包括映射单元，成本计算单元和路径规划单元。 映射单元通过设置确保机器人相对于每个格栅的驾驶稳定性的诱导区域和与意外的障碍物碰撞危险性的危险区域来绘制信息网格图。 成本计算单元通过考虑围绕机器人的行驶目标点的每个网格的属性来计算相对于每个网格的驾驶成本。 成本计算单元通过考虑与诱导区域和危险区域相关的特性来计算驾驶成本。 路径规划单元从机器人的当前点沿着具有最小驾驶成本的相邻格栅生成用于驱动到驾驶目标点的机器人的驱动路径。 （附图标记）（AA）目标点; （BB，DD，FF）路线; （CC）危险区域; （EE）机器人的位置; （GG）引导机器人的区域
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公开(公告)号：KR1020130022994A
公开(公告)日：2013-03-07
申请号：KR1020110086112
申请日：2011-08-27
Applicant: 고려대학교 산학협력단
CPC classification number: H04W4/02 , G05D1/0253 , G06T7/12 , G06T7/73 , G06T2207/10016 , G06T2207/10021 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
Abstract: PURPOSE: A method for recognizing a mobile robot position using a ceiling arbitrary shape feature is provided to enable accurate and rapid position recognition by using a ceiling image. CONSTITUTION: A method for recognizing a mobile robot position using a ceiling arbitrary shape feature includes the following steps: a step for providing a position recognition mobile robot apparatus using a ceiling arbitrary shape feature including an image input unit, an encoder sensing unit, a calculation unit, a control unit, a storage unit, and a driving unit(S10); a step for extracting features including an arbitrary shape feature from a contour line extracted from inputted image data inputted through the image input unit(S20); a position recognition step for recognizing the position of the mobile robot apparatus by using the extracted feature(S30). [Reference numerals] (AA) Start; (S10) Step of processing image input; (S20) Step of extracting features; (S30) Step of recognizing a position
Abstract translation: 目的：提供一种使用天花板任意形状特征识别移动机器人位置的方法，以通过使用天花板图像来实现准确和快速的位置识别。 构成：使用天花板任意形状特征识别移动机器人位置的方法包括以下步骤：使用包括图像输入单元，编码器感测单元，计算的天花板任意形状特征来提供位置识别移动机器人装置的步骤 单元，控制单元，存储单元和驱动单元（S10）; 从通过图像输入单元输入的输入图像数据提取的轮廓线提取包括任意形状特征的特征的步骤（S20）; 用于通过使用所提取的特征来识别移动机器人装置的位置的位置识别步骤（S30）。 （附图标记）（AA）开始; （S10）处理图像输入的步骤; （S20）提取特征的步骤; （S30）识别位置的步骤
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公开(公告)号：KR101131644B1
公开(公告)日：2012-04-12
申请号：KR1020090075688
申请日：2009-08-17
Applicant: 고려대학교 산학협력단
CPC classification number: G05D1/0219 , G05D1/0274 , G05D2201/0203
Abstract: PURPOSE: A mobile robot unit and a method for controlling the same are provided to perform quick cleaning function by optimizing moving route. CONSTITUTION: A move signal for the movement to the cleaning route is applied to a cleaning robot device(10). The cleaning robot device senses a detecting information through a sensor(100). The existence of an obstruction around the cleaning robot device is checked using the detected sense information. The cleaning path for the cleaning robot device is confirmed based on the existence of obstruction and sense information.
Abstract translation: 目的：提供移动机器人单元及其控制方法，通过优化移动路线来实现快速清洗功能。 构成：用于移动到清洁路线的移动信号被施加到清洁机器人装置（10）。 清洁机器人装置通过传感器（100）感测检测信息。 使用检测到的感测信息检查清洁机器人装置周围的阻塞的存在。 基于阻塞和感测信息的存在来确认清洁机器人装置的清洁路径。
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Patent Agency Ranking
公开(公告)号：KR101113756B1
公开(公告)日：2012-02-27
申请号：KR1020110023061
申请日：2011-03-15
Applicant: 엘아이지넥스원 주식회사 , 고려대학교 산학협력단
Abstract: PURPOSE: An arm for a mobile robot, which can improve generality of a mobile robot, and a mobile robot including the same are provided to improve portability of a mobile robot by folding and inserting robot arm into a receiving part. CONSTITUTION: An arm for a mobile robot comprises one or more links, one or more joints, a motor, a motor drive, and a control system(150). The joint is formed in the link. The motor rotates the joint. The motor drive controls the drive of the motor. The control system controls the motor drive. The link is folded in a shape of flat plate according to the rotation of a joint.
Abstract translation: 目的：提供用于移动机器人的手臂，其可以提高移动机器人的一般性，并且提供包括其的移动机器人的手臂，以通过将机器人手臂折叠并插入到接收部分来改善移动机器人的便携性。 构成：用于移动机器人的臂包括一个或多个连杆，一个或多个接头，马达，马达驱动器和控制系统（150）。 关节形成在连接处。 电机旋转接头。 电机驱动器控制电机的驱动。 控制系统控制电机驱动。 根据接头的旋转将连杆折叠成平板状。
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公开(公告)号：KR1020110035129A
公开(公告)日：2011-04-06
申请号：KR1020090092699
申请日：2009-09-29
Applicant: 고려대학교 산학협력단
Abstract: PURPOSE: A jumping robot and a control method thereof are provided to variously select a jumping range by increasing the adjustment freedom of jumping angle. CONSTITUTION: A jumping robot comprises a housing(100), a driving unit(200), a sensing unit, and a jumping unit(300). The driving unit comprises a drive motor(220) and a drive wheel(210). The drive motor is arranged in the housing. The drive wheel is installed in the housing to rotate. The drive wheel receives driving force from the drive motor and transfers the housing. The sensing unit is arranged in the housing and surrounds the environment of the housing. The jumping unit varies the location of the housing by jumping the housing based on the sensed information.
Abstract translation: 目的：提供跳跃机器人及其控制方法，通过增加跳跃角度的调节自由度来不同地选择跳跃范围。 构成：跳跃机器人包括壳体（100），驱动单元（200），感测单元和跳跃单元（300）。 驱动单元包括驱动马达（220）和驱动轮（210）。 驱动电机布置在壳体中。 驱动轮安装在外壳内旋转。 驱动轮从驱动马达接收驱动力并转移壳体。 感测单元布置在壳体中并且围绕壳体的环境。 跳跃单元通过基于所感测的信息跳转壳体来改变壳体的位置。
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公开(公告)号：KR1020110018076A
公开(公告)日：2011-02-23
申请号：KR1020090075688
申请日：2009-08-17
Applicant: 고려대학교 산학협력단
CPC classification number: G05D1/0219 , G05D1/0274 , G05D2201/0203 , A47L9/2805 , A47L9/2857 , A47L2201/04 , B25J9/1676
Abstract: PURPOSE: A mobile robot unit and a method for controlling the same are provided to perform quick cleaning function by optimizing moving route. CONSTITUTION: A move signal for the movement to the cleaning route is applied to a cleaning robot device(10). The cleaning robot device senses a detecting information through a sensor(100). The existence of an obstruction around the cleaning robot device is checked using the detected sense information. The cleaning path for the cleaning robot device is confirmed based on the existence of obstruction and sense information.
Abstract translation: 目的：提供移动机器人单元及其控制方法，通过优化移动路线来实现快速清洗功能。 构成：用于移动到清洁路线的移动信号被施加到清洁机器人装置（10）。 清洁机器人装置通过传感器（100）感测检测信息。 使用检测到的感测信息检查清洁机器人装置周围的阻塞的存在。 基于阻塞和感测信息的存在来确认清洁机器人装置的清洁路径。
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公开(公告)号：KR100835906B1
公开(公告)日：2008-06-09
申请号：KR1020070042827
申请日：2007-05-03
Applicant: 고려대학교 산학협력단
IPC: G05D3/00
CPC classification number: B25J9/1694 , B25J19/021 , B25J19/023 , G05D1/0231 , G05D1/0242 , G05D1/0246
Abstract: A method and a device for estimating a position of a robot are provided to prevent position estimation error due to an image processing time by correcting position displacement of the robot during an image process through an encoder. A device for estimating a position of a robot includes a detection unit(100), an image processing unit(200), a controller(300), and an arithmetic unit(500). The detection unit includes a vision sensor for obtaining image information, a distance sensor for detecting distance information, and an encoder for obtaining encoder information. The image processing unit processes the image information based on detection information from the detection unit. The controller, which is electrically connected to the detection unit and the image processing unit, outputs robot estimation positions. The arithmetic unit, which is electrically connected to the controller, calculates the estimation probability of robot candidate positions and sensor probability of the robot candidate positions from the processed image information and the detection information, and produces forecasting probability of the robot candidate positions according to the calculation.
Abstract translation: 提供了一种用于估计机器人的位置的方法和装置，以通过通过编码器在图像处理期间校正机器人的位置位移来防止由于图像处理时间引起的位置估计误差。 用于估计机器人位置的装置包括检测单元（100），图像处理单元（200），控制器（300）和运算单元（500）。 检测单元包括用于获得图像信息的视觉传感器，用于检测距离信息的距离传感器和用于获得编码器信息的编码器。 图像处理单元基于来自检测单元的检测信息处理图像信息。 电连接到检测单元和图像处理单元的控制器输出机器人估计位置。 电连接到控制器的算术单元根据处理后的图像信息和检测信息计算机器人候选位置的估计概率和机器人候选位置的传感器概率，并且根据处理的图像信息和检测信息产生机器人候选位置的预测概率 计算。
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公开(公告)号：KR1020080048862A
公开(公告)日：2008-06-03
申请号：KR1020060119348
申请日：2006-11-29
Applicant: 고려대학교 산학협력단
Abstract: A double actuator unit, a double actuator device with the same and a control method of the double actuator device are provided to maximize load strength and to increase operation performance by increasing a reduction gear ratio and by installing a gear train with a planetary gear. A double actuator unit comprises the followings: a housing unit; an operating unit installed at the housing unit, including a location operator(210) for controlling a location and a strength operator(230) for controlling strength, of an output axle extended through the housing unit, and a location operator encorder(220) and a strength operator encorder(240) measuring a rotation angle of the location operator and the strength operator respectively; and a gear train(300) supplying power to the output axle, including a location gear unit(301) connected to a location operator axle of the location operator, and a strength gear unit(303) connected to a strength operator axle of the strength operator and geared externally with the location gear unit.
Abstract translation: 提供双致动器单元，具有双重致动器单元的双致动器装置和双致动器装置的控制方法，以通过增加减速比来最大化负载强度并提高操作性能，并通过安装具有行星齿轮的齿轮系。 双致动器单元包括：壳体单元; 安装在所述壳体单元处的操作单元，包括用于控制位置的位置操作器（210）和用于控制通过所述壳体单元延伸的输出轴的强度操作器（230），以及位置操作者参考器（220）和 分别测量位置操作者和力量操作者的旋转角度的强度操纵器（240）; 以及向所述输出轴供电的齿轮系（300），包括连接到所述定位操作器的定位操作器轴的定位齿轮单元（301），以及强度齿轮单元（303），其连接到强度运算器轴 操作员并通过定位减速器在外部进行换向。
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