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公开(公告)号：KR101278679B1
公开(公告)日：2013-06-25
申请号：KR1020110143362
申请日：2011-12-27
Applicant: 전자부품연구원
Abstract: PURPOSE: A multi-point haptic sensing device and a system including the same are provided to stably perform by collecting precise sensor information through mounting on a robot used for a medical procedure or a medical appliance. CONSTITUTION: A multi-point haptic sensing device(100) comprises a substrate(112), a plurality of pressure structure(117) in a support shape, a semiconductor strain gauge, and a signal processing module(120). The substrate includes a circuit substrate(115) and a support plate unit(111). The circuit substrate is electrically connected to each strain gauge for collecting a sensing signal of the strain gauge(113). The circuit substrate, the pressure structure, and the semiconductor strain gauge are arranged in the support plate unit. [Reference numerals] (120) Signal processing module; (121) Amplifier; (123) Signal processing unit; (125) Offset adjusting unit
Abstract translation: 目的：提供一种多点触觉感测装置及包括该多点触觉感测装置的系统，以通过安装在用于医疗程序或医疗器具的机器人上收集精确的传感器信息来稳定地执行。 构成：多点触觉感测装置（100）包括基板（112），支撑形状的多个压力结构（117），半导体应变计和信号处理模块（120）。 基板包括电路基板（115）和支撑板单元（111）。 电路基板电连接到每个应变计，用于收集应变计（113）的感测信号。 电路基板，压力结构和半导体应变计布置在支撑板单元中。 （附图标记）（120）信号处理模块; （121）放大器; （123）信号处理单元; （125）偏置调整单元
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公开(公告)号：KR1020130020259A
公开(公告)日：2013-02-27
申请号：KR1020110082776
申请日：2011-08-19
Applicant: 전자부품연구원
Abstract: PURPOSE: A ceiling height estimation apparatus of a mobile robot and a method are provided to provide a fine identification for each location of the ceiling and to help a user to easily track the location of the mobile robot even for the ceiling which is formed with no pattern or in a repetitive simple pattern. CONSTITUTION: A ceiling height estimation apparatus(10) of a mobile robot comprises a pattern irradiating unit(14), a camera unit(16), a storage unit and a controlling unit. The pattern irradiating unit is installed at the mobile robot main body unit, irradiates and displays an identified pattern in the ceiling. The camera unit is separately installed at the mobile robot main body unit in a constant interval from the pattern irradiating unit, and photographs an area in which the identified pattern is irradiated. The storage unit is installed to the mobile robot main body unit, and stores the standard identification pattern of the identification pattern. The controlling unit estimates the height of the ceiling by using the photographed information of the identification pattern displayed on the ceiling, photographed by the camera unit, and the standard identification pattern. The photographed information comprises information of an image of the identification pattern which is photographed, a camera angle of the identification pattern, and the distance between the camera unit and the pattern irradiation unit. The controlling unit calculates a camera angle of the identification pattern displayed on the ceiling, the first height of the ceiling from a photographed angle which calculated the distance between the camera unit and the pattern irradiation unit, the second height of the ceiling by comparing the size of the photographed identification pattern and the standard identification pattern, and thereby estimates the height of the ceiling from the calculated first and second height.
Abstract translation: 目的：提供移动机器人的天花板高度估计装置和方法，以为天花板的每个位置提供精细识别，并且帮助用户即使对于形成无天花板的天花板也可以容易地跟踪移动机器人的位置 模式或重复的简单模式。 构成：移动式机器人的天花板高度估计装置（10）包括图案照射单元（14），照相机单元（16），存储单元和控制单元。 图案照射单元安装在移动机器人主体单元处，在天花板中照射并显示识别的图案。 相机单元从图案照射单元以一定的间隔分开安装在移动机器人主体单元处，并且照射识别的图案被照射的区域。 存储单元安装到移动机器人主体单元，并存储识别图案的标准识别图案。 控制单元通过使用在天花板上显示的识别图案的拍摄信息，由照相机单元拍摄的标准识别图案来估计天花板的高度。 拍摄信息包括拍摄的识别图案，识别图案的相机角度以及相机单元和图案照射单元之间的距离的图像的信息。 所述控制单元根据计算出所述照相机单元与所述图案照射单元之间的距离的拍摄角度，计算出在所述天花板上显示的所述识别图案的相机角度，所述天花板的所述第一高度， 拍摄的识别图案和标准识别图案，从而从计算出的第一和第二高度估计天花板的高度。
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公开(公告)号：KR1020120112293A
公开(公告)日：2012-10-11
申请号：KR1020120092705
申请日：2012-08-24
Applicant: 전자부품연구원
Abstract: PURPOSE: An apparatus and a method for judging positions of a moving body are provided to reduce image storage capacity and computational load for comparing images because images comparing with photographed images are selected by a predetermined standard. CONSTITUTION: An apparatus for judging positions of a moving body is as follows. A position judging device stores images after stratifying multiple reference images according to the position of an object(S14). The reference images with similarity over a predetermined value are grouped in a similar image and the rest images are classified into an identifying images(S15). The position judging device compares photographed images and the reference images to sort a matching reference image with the similarity over the predetermined value(S16). The position judging device reflects weight according as the matching reference images belongs to the similar image or the identifying image to calculate the probability that moving body exists at the position of the object corresponding to the matching reference image. The position judging device judges the position of the moving body according to the calculated results(S17,S18,S19,S20). [Reference numerals] (S11) Taking a photograph; (S12) Extracting feature points; (S13) Calculating a number of the feature points; (S14) Selecting and storing reference images; (S15) Grouping similar images and classifying identifying images; (S16) Sorting matching reference images corresponding to photographed images; (S17) Similar images?; (S18) Calculating position probability with reflecting the weighted value of the similar images; (S19) Calculating the position probability with reflecting the weighted value of the identifying images; (S20) Determining a position
Abstract translation: 目的：提供一种用于判断移动体的位置的装置和方法，以减少用于比较图像的图像存储容量和计算负荷，因为与拍摄图像进行比较的图像是以预定标准选择的。 构成：用于判断移动体的位置的装置如下。 位置判断装置根据物体的位置对多个参考图像进行分层后存储图像（S14）。 具有预定值的相似度的参考图像被分组在类似的图像中，并且其余的图像被分类为识别图像（S15）。 位置判断装置将拍摄图像和参考图像进行比较，对具有预定值的相似度的匹配参考图像进行排序（S16）。 位置判断装置根据匹配的参考图像属于相似图像或识别图像来反映权重，以计算移动体存在于与匹配参考图像相对应的对象的位置处的概率。 位置判断装置根据计算结果来判断移动体的位置（S17，S18，S19，S20）。 （附图标记）（S11）拍摄照片; （S12）提取特征点; （S13）计算特征点的数量; （S14）选择并存储参考图像; （S15）对相似图像进行分组并对识别图像进行分类; （S16）对与拍摄图像对应的匹配参考图像进行排序; （S17）相似图片 （S18）反映相似图像的加权值计算位置概率; （S19）通过反映识别图像的加权值来计算位置概率; （S20）确定位置
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公开(公告)号：KR1020120071685A
公开(公告)日：2012-07-03
申请号：KR1020100133323
申请日：2010-12-23
Applicant: 전자부품연구원
Abstract: PURPOSE: An adaptable accident detection device and an accident detection method are provided to detect an accident of a vehicle by analyzing the movement of objects through video recorded by an intelligent detecting camera. CONSTITUTION: An accident detection method is as follows. One or more intelligent detection cameras are installed for collecting video according to the driving of a vehicle. The kinetic vector value of objects recorded through the video is calculated. When the calculated kinetic vector value of objects is different from a predetermined value, the probability of accidents is calculated based on the data in the video.
Abstract translation: 目的：提供一种适应性事故检测装置和事故检测方法，通过分析通过智能检测摄像机记录的视频对象的移动来检测车辆事故。 规定：事故检测方法如下。 一个或多个智能检测摄像机被安装用于根据车辆的驾驶来收集视频。 计算通过视频记录的物体的动力矢量值。 当计算出的物体运动矢量值与预定值不同时，根据视频中的数据计算事故概率。
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公开(公告)号：KR1020120033414A
公开(公告)日：2012-04-09
申请号：KR1020100094914
申请日：2010-09-30
Applicant: 전자부품연구원
Abstract: PURPOSE: A robot with a self-location recognizing function and an operating method thereof are provided to accurately perform various operations established on a robot based accurate self-location recognition by performing the self-location recognition of the robot without errors. CONSTITUTION: A robot(100) with a self-location recognizing function comprises a storage unit(150), a camera(130), and a control unit(160). The storage unit stores a topological map and front and ceiling reference images registered for each spot of the topological map. The camera takes ceiling images and front images at the time of the self-location recognition. The control unit compares the ceiling based images with the ceiling images to detect at least one ceiling based image matched the ceiling image.
Abstract translation: 目的：提供具有自身位置识别功能的机器人及其操作方法，以通过无错误地执行机器人的自位置识别来精确地执行基于机器人的精确自定位识别所建立的各种操作。 构成：具有自位置识别功能的机器人（100）包括存储单元（150），相机（130）和控制单元（160）。 存储单元存储为拓扑图的每个点注册的拓扑图和前后参考图像。 摄像机在自定位识别时拍摄天花板图像和正面图像。 控制单元将基于天花板的图像与天花板图像进行比较，以检测与天花板图像匹配的至少一个基于天花板的图像。
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Patent Agency Ranking
公开(公告)号：KR101088883B1
公开(公告)日：2011-12-07
申请号：KR1020090132255
申请日：2009-12-28
Applicant: 전자부품연구원
IPC: G06K9/00
Abstract: 본 발명은 이종 센서 융합 기반 사용자 인식 방법 및 장치에 관한 것로, 이러한 본 발명은 적어도 2개의 서로 다른 모달리티 센서를 통해 인식 대상의 모달리티를 센싱하는 모달리티 센서부; 및 상기 모달리티 센서가 감지한 모달리티와 미리 생성한 모달리티의 불확실성 모델의 기 설정한 신뢰도 범위 내에 속하는지 여부에 따라 상기 인식 대상을 인증하는 식별부;를 포함하는 사용자 인식 장치와 이에 따른 인식 방법을 제공한다.
화상, 열화상, 확률 분포-
公开(公告)号：KR101087058B1
公开(公告)日：2011-11-28
申请号：KR1020090132256
申请日：2009-12-28
Applicant: 전자부품연구원
Abstract: 본 발명은 전방향 카메라 장치 및 이의 구동 방법에 관한 것으로, 이러한 본 발명은, 영상 촬영을 위한 카메라 모듈을 구비한 복수의 카메라 장치부; 상기 복수의 카메라 장치 각각의 카메라 모듈이 360도 전방향을 구분하여 바깥으로 대향하도록 설치되는 받침부; 및 상기 각각의 카메라 모듈이 촬영한 화상 신호를 합성하여 전방향의 영상을 출력하는 화상 처리부;를 포함하는 것을 특징으로 하는 전방향 카메라 장치 및 이의 구동 방법을 제공한다.
로봇, 카메라, 해상도, 전방향, 해상도-
公开(公告)号：KR1020110075730A
公开(公告)日：2011-07-06
申请号：KR1020090132256
申请日：2009-12-28
Applicant: 전자부품연구원
CPC classification number: H04N7/181 , H04N5/2251 , H04N5/23206 , H04N5/23238 , H04N5/23296
Abstract: PURPOSE: An omni-directional camera apparatus and driving method thereof are provided to increase processing speed by photographing an object after partitioning an omni-direction. CONSTITUTION: A plurality of camera device units(100) includes a camera module(110) for image photographing. A plurality of camera device units is installed in a support unit(200). An image processing unit(300) synthesizes an image signal of each camera module. The image processor outputs an omniidirectional image.
Abstract translation: 目的：提供一种全方位相机装置及其驱动方法，通过在分割全方向后拍摄对象来提高处理速度。 构成：多个相机装置单元（100）包括用于图像拍摄的相机模块（110）。 多个照相机装置单元安装在支撑单元（200）中。 图像处理单元（300）合成每个相机模块的图像信号。 图像处理器输出全向图像。
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公开(公告)号：KR1020110071885A
公开(公告)日：2011-06-29
申请号：KR1020090128577
申请日：2009-12-22
Applicant: 전자부품연구원
Abstract: PURPOSE: Sensor signal processing system and method for a robot are provided to easily upgrade the sensor processing ability of the robot since a robot controller only remains and only a sensor related device is replaced. CONSTITUTION: A robot system(1) comprises a robot controller(200), a sensor group(10) and a sensor signal processing system(100). The robot controller controls the movement of a robot mechanism. The sensor group comprises one or more sensors. The one or more sensors are arranged on at least one of the robot mechanism and a robot mechanism environment. The sensor signal processing system is arranged between the robot controller and the sensor group. After the sensor signal processing system, in common, processes or does not process the sensor signals of sensors of the sensor group, it transfer signals to the robot controller.
Abstract translation: 目的：提供用于机器人的传感器信号处理系统和方法，以便轻松升级机器人的传感器处理能力，因为仅保留机器人控制器，仅替换传感器相关设备。 构成：机器人系统（1）包括机器人控制器（200），传感器组（10）和传感器信号处理系统（100）。 机器人控制器控制机器人机构的运动。 传感器组包括一个或多个传感器。 一个或多个传感器布置在机器人机构和机器人机构环境中的至少一个上。 传感器信号处理系统设置在机器人控制器和传感器组之间。 在传感器信号处理系统的共同之处，处理或不处理传感器组的传感器的传感器信号，它将信号传送到机器人控制器。
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公开(公告)号：KR1020110071825A
公开(公告)日：2011-06-29
申请号：KR1020090128489
申请日：2009-12-21
Applicant: 전자부품연구원
CPC classification number: H04N5/262 , H04N5/23206 , H04N5/23293 , H04N7/181
Abstract: PURPOSE: An image monitoring system and method are provided to secure the continuity of images collected by a real-time photography and a continuous photography. CONSTITUTION: An image monitoring system(50) includes a camera unit(10) and an image matching system(100). The camera unit includes a plurality of cameras(1~N). According to set standards, the image matching system matches photographed images transmitted from the camera unit. In order to continuously photograph a target object, the image monitoring system controls the photography of the camera of the camera unit.
Abstract translation: 目的：提供一种图像监控系统和方法，以确保通过实时摄影和连续摄影收集的图像的连续性。 构成：图像监视系统（50）包括照相机单元（10）和图像匹配系统（100）。 相机单元包括多个照相机（1〜N）。 根据设定的标准，图像匹配系统匹配从相机单元发送的拍摄图像。 为了连续拍摄目标物体，图像监视系统控制摄像机单元的照相机的拍摄。
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