-
公开(公告)号：KR101164903B1
公开(公告)日：2012-07-19
申请号：KR1020110021803
申请日：2011-03-11
Applicant: 국방과학연구소
CPC classification number: B25J9/161 , B25J9/1661 , G06F9/465 , G06F9/4881
Abstract: PURPOSE: A method and a system for managing multiple missions of an unmanned robot is provided to effectively found mission planning by simultaneously managing multiple unmanned robots. CONSTITUTION: A method for managing multiple missions of an unmanned robot is as follows. Missions are inputted from the outside and are saved in a database(S110). A mission management step(S120) is as follows. In order that multiple unmanned robots cooperate based on the missions saved in the database to implement the missions, mission planning is created or modified. The missions are transmitted to the unmanned robot according to the mission planning. State information is transmitted from the unmanned robot and performance of the missions is monitored.
Abstract translation: 目的：提供一种用于管理无人机器人的多个任务的方法和系统，通过同时管理多个无人机器人来有效发现任务规划。 构成：管理无人机器人的多个任务的方法如下。 任务从外部输入并保存在数据库中（S110）。 任务管理步骤（S120）如下。 为了使多个无人机器人基于保存在数据库中的任务来执行任务，创建或修改任务规划。 任务根据任务规划传送到无人机器人。 从无人机器人发送状态信息，监视任务的执行。
-
公开(公告)号：KR101140558B1
公开(公告)日：2012-05-02
申请号：KR1020110106127
申请日：2011-10-17
Applicant: 국방과학연구소
Abstract: PURPOSE: An autonomous mobile robot and a control method thereof are provided to generate a return path corresponding to an entrance path using images photographed by multiple cameras. CONSTITUTION: An autonomous mobile robot(100) comprises a main body(100), a position receiving unit(120), a receiving unit(130), a matching unit, and a path generating unit. The main body is moved toward a target point. The position receiving unit receives the position data of the main body. The sensing unit is installed in the main body and photographs surroundings. The matching unit extracts feature points from the photographed images and matches the extracted feature points with the position data. When the main body reaches the target point, the path generating unit generates the return path for the main body.
Abstract translation: 目的：提供一种自主移动机器人及其控制方法，以使用由多台照相机拍摄的图像产生与入口路径对应的返回路径。 构成：自主移动机器人（100）包括主体（100），位置接收单元（120），接收单元（130），匹配单元和路径生成单元。 主体朝向目标点移动。 位置接收单元接收主体的位置数据。 感测单元安装在主体中并拍摄周围环境。 匹配单元从拍摄图像中提取特征点，并将提取的特征点与位置数据进行匹配。 当主体到达目标点时，路径生成单元生成主体的返回路径。
-
公开(公告)号：KR101133037B1
公开(公告)日：2012-04-04
申请号：KR1020110127524
申请日：2011-12-01
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/0248 , G05D1/027 , G05D1/0278
Abstract: PURPOSE: A route updating method for avoiding a collision between autonomous vehicles and an apparatus using the same are provided to avoid the collision by reducing a calculation amount required to avoid the collision. CONSTITUTION: A plurality of 2D radar(LADAR) detects geographic information which includes obstacles arranged near a travel route of an autonomous vehicle. A navigation-processing computer(20) processes position, posture, and velocity information of the autonomous vehicle using navigation information from a compass(23), an inertial navigation system(22), or a global positioning system(21). A 2D LADAR processing computer(30) acquires obstacle information by processing the navigation information from the navigation-processing computer and the geographic information acquired by the 2D LADAR. A path control computer(40) performs a collision avoidance process in a reconfigurable mode after removing a path point by utilizing the obstacle information from the 2D LADAR processing computer.
Abstract translation: 目的：提供一种用于避免自主车辆与使用其的装置之间的碰撞的路线更新方法，以通过减少避免碰撞所需的计算量来避免碰撞。 构成：多个2D雷达（LADAR）检测包括布置在自主车辆的行进路线附近的障碍物的地理信息。 导航处理计算机（20）使用来自罗盘（23），惯性导航系统（22）或全球定位系统（21）的导航信息来处理自主车辆的位置，姿势和速度信息。 2D LADAR处理计算机（30）通过处理来自导航处理计算机的导航信息和由2D LADAR获取的地理信息来获取障碍物信息。 路径控制计算机（40）通过利用来自2D LADAR处理计算机的障碍物信息去除路径点后，进行可重构模式的碰撞避免处理。
-
Patent Agency Ranking
公开(公告)号：KR101061066B1
公开(公告)日：2011-08-31
申请号：KR1020110026585
申请日：2011-03-24
Applicant: 국방과학연구소
Abstract: PURPOSE: A topography detection sensor assembly and an autonomous vehicle with the same are provided to quickly obtain data about obstacle detection, tilted side analysis, or world modeling in the same direction based on an operation environment and purpose. CONSTITUTION: A topography detection sensor assembly includes a first radar(110), a rolling driving device(200), a second radar, and a pitching driving device. The first radar includes a first axis and a second axis which crosses the first axis. The first radar is inserted into a groove. The rolling driving device is coupled with the first radar. The rolling driving device rotates the first radar around the second axis. The second radar rotates around a third axis which crosses the first axis and the second axis.
Abstract translation: 目的：提供一种地形检测传感器组件及其自主车辆，以便根据操作环境和目的快速获取有关障碍物检测，倾斜侧分析或世界建模方面相同方向的数据。 构成：地形检测传感器组件包括第一雷达（110），滚动驱动装置（200），第二雷达和俯仰驱动装置。 第一雷达包括穿过第一轴线的第一轴线和第二轴线。 第一个雷达插入一个凹槽。 滚动驱动装置与第一雷达耦合。 滚动驱动装置绕第二轴旋转第一雷达。 第二雷达围绕穿过第一轴线和第二轴线的第三轴线旋转。
-
公开(公告)号：KR101056681B1
公开(公告)日：2011-08-12
申请号：KR1020110027163
申请日：2011-03-25
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D1/0214
Abstract: PURPOSE: An autonomic movement apparatus for considering stability and improving moving efficiency and a method for setting a route thereof and an autonomic movement system are provided to design a wide area route from map data and timely revise the wide area route from the wide area route of being planned in consideration of geomorphic data, and efficiently sets the movement route of the autonomic movement apparatus in a wide region. CONSTITUTION: A remote control apparatus(20) transmits map data including altitude information to an autonomic movement apparatus(10). The autonomic movement apparatus generates a grid map for a wide area based on the map data, sets a wide area route from an initial point to a target point in the grid map for the wide area, generates the revised grid map of the wide area based on the data detected by scanning surroundings, and sets the revised route of the wide from the wide area.
Abstract translation: 目的：提出一种用于考虑稳定性和提高移动效率的自主运动装置，以及用于设置其路线和自主运动系统的方法，以从地图数据设计广域线路，并从广域线路 考虑到地形数据进行计划，并且在广泛的区域中有效地设置自主运动装置的移动路线。 构成：远程控制装置（20）将包括高度信息的地图数据发送到自主运动装置（10）。 自主运动装置基于地图数据生成广域的网格图，设定从广域的网格图中的初始点到目标点的广域路线，生成广域的修改网格图 对扫描环境检测到的数据，并从广域设置广泛的修改路由。
-
公开(公告)号：KR101054479B1
公开(公告)日：2011-08-05
申请号：KR1020090026572
申请日：2009-03-27
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0223
Abstract: 본 발명은 지형감지용 센서로부터 획득한 지형정보에 기반하여 작성된 방향별 주행성 속도지도(DVGM, Directional Velocity Grid Map)를 통하여 최적경로를 설정하는 방법 및 장치에 관한 것이다.
상기 장치는 무인차량에 장착된 지형감지용센서로부터 획득한 특정영역의 지형정보 및 장애물정보를 활용하여 목표점 지향적이며 최단 이동시간을 고려하는 지역경로계획에 있어서, 1) 지형감지센서로부터 지형정보를 수집하는 지형정보획득모듈, 2) 상기 지리정보획득모듈에 의해 수집된 특정 영역에 대한 지리학적 정보 내에 장애물이 위치하고 있는 정보를 추출하는 장애물정보추출모듈, 3) 상기 지리정보획득모듈과 상기 장애물정보추출모듈로부터 추출된 지형정보에 기초하여 무인차량의 방향별 주행속도를 산출하고, 4) 상기 산출한 방향별 주행속도를 반영한 격자기반의 방향별 주행성 속도지도(DVGM)를 생성하는 주행성 속도지도(DVGM) 산출모듈, 상기 주행성 속도지도 산출모듈로부터 산출된 주행성 속도지도를 통하여 최적지역경로설정 알고리즘에 의한 경로를 산출하는 경로기획산출모듈을 포함하는 무인차량의 지역경로계획장치를 포함한다.
무인차량, 방향별 주행성 속도지도, 지역경로계획 방법, 퍼지추론-
公开(公告)号：KR101040528B1
公开(公告)日：2011-06-16
申请号：KR1020110014286
申请日：2011-02-17
Applicant: 국방과학연구소
Abstract: PURPOSE: A topography sensor assembly and an autonomous mobile platform including the same are provided to optimize a three dimensional space modeling process by relatively rotating radar driving units equipped with radars. CONSTITUTION: A first radar driving unit(126a) and a second radar driving unit(126b) are combined with the outer circumferential surface of a rotary driving unit(120). The radar driving units rotate with the rotary driving unit. A first radar(122) is arranged in the first radar driving unit and senses a distance between a main body and a target object and topographical information in a first region. A second radar(123) is arranged in the second radar driving unit senses a distance between a main body and a target object and topographical information in a second region. A part of the second region is overlapped with the first region.
Abstract translation: 目的：提供一种地形传感器组件和包括该地形传感器组件的自主移动平台，以通过相对旋转配备有雷达的雷达驱动单元来优化三维空间建模过程。 构成：第一雷达驱动单元（126a）和第二雷达驱动单元（126b）与旋转驱动单元（120）的外圆周表面组合。 雷达驱动单元与旋转驱动单元一起旋转。 第一雷达（122）布置在第一雷达驱动单元中，并且感测主体和目标对象之间的距离以及第一区域中的地形信息。 第二雷达（123）布置在第二雷达驱动单元中，感测主体和目标对象之间的距离以及第二区域中的地形信息。 第二区域的一部分与第一区域重叠。
-
公开(公告)号：KR101033167B1
公开(公告)日：2011-05-11
申请号：KR1020110009778
申请日：2011-01-31
Applicant: 국방과학연구소
Abstract: PURPOSE: A calibration device, system and method of a laser sensor and camera are provided to make direct coordinate conversion between image information and distance information using transformation matrix. CONSTITUTION: A calibration device of a laser sensor and camera comprises a laser sensor(10) and a calibration module. The laser sensor senses distance information. The calibration module produces the correspondence of the distance information and image information and performs calibration of a laser sensor and camera(20). The calibration module comprises a planar member(110) and a controller. The planar member is arranged within a shooting area in order to be taken by the camera. The controller converts coordinate between the distance information and image information by using a planar member image of image information and a rate of planar member one side and cross line segment.
Abstract translation: 目的：提供激光传感器和摄像机的校准装置，系统和方法，使用变换矩阵对图像信息和距离信息进行直接坐标转换。 构成：激光传感器和相机的校准装置包括激光传感器（10）和校准模块。 激光传感器感测距离信息。 校准模块产生距离信息和图像信息的对应关系，并执行激光传感器和照相机（20）的校准。 校准模块包括平面构件（110）和控制器。 平面构件布置在拍摄区域内以便被照相机拍摄。 控制器通过使用图像信息的平面构件图像和平面构件一侧和交叉线段的速率来转换距离信息和图像信息之间的坐标。
-
-
-
-
-
-
-
Search Results
78
records
(took 0.027 seconds)
