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公开(公告)号：WO2010053245A1
公开(公告)日：2010-05-14
申请号：PCT/KR2009/003951
申请日：2009-07-17
Applicant: 고려대학교 산학협력단 , 도낙주 , 김경복 , 남창주 , 이영훈
IPC: B25J15/00
CPC classification number: B25J15/00 , B25J15/0023 , B25J15/022 , B60N3/105
Abstract: 본 발명은 물체 형상에 따라 신축 변형되는 접속부를 가지는 로봇 핸드 및 로봇 핸드 제어방법에 관한 것으로, 이동대상물(10)에 가압 접촉가능한 접촉면을 제공하며, 상기 이동대상물(10)과 접촉되는 접속부(100a)가 신축 변형가능한 구조로 된 가변접속장치(100); 상기 가변접속장치의 접속부(100a)가 상기 이동대상물(10)의 표면에 연속하여 또는 다수의 개소로 분할되어 가압 접촉되는 폐루프 상태, 또는 상기 이동대상물(10)로부터 이탈되는 개루프 상태로 상호 전환되도록, 모터(201), 펌프와 같은 구동부에 연동하여 상기 가변접속장치의 접속부(100a)의 형상을 신축 변형시키는 접속길이 조정장치(200); 및 상기 가변접속장치(100)가 상기 이동대상물(10)에 설정압력으로 가압 접속된 폐루프 상태에서 상기 가변접속장치(100)의 형상을 일정하게 유지시키는 형상유지장치;를 포함하여 구성되는 물체 형상에 따라 신축 변형되는 접속부를 가지는 로봇 핸드를 기술적 요지로 하여, 인간의 손이 수행하는 다양한 작업들 중, 감싸쥐기(enveloping), 걸기(hooking), 쓸기(sweeping)와 같이 물건을 잡고 이동(pick & move)하는 작업을 신뢰성있고 안정적으로 구현가능한 구조를 가지는 물체 형상에 따라 신축 변형되는 접속부를 가지는 로봇 핸드 및 로봇 핸드 제어방법에 관한 것이다.
Abstract translation: 本发明涉及一种机器人手，其具有根据物体形状进行拉伸变形的连接部和控制机器人手的方法; 关键技术要点涉及具有根据物体形状进行拉伸变形的连接部的机器人手，包括：可变连接装置（100），其提供能够按压接触移动目标（10）的接触面，并具有 结构，其中与所述移动目标（10）接触的连接部分（100a）能够进行拉伸变形; 连接长度控制器（200），其与诸如电动机（201）或泵的驱动部分接合以使所述可变连接装置的连接部分（100a）伸展和变形，使得所述可变连接装置的连接部分 在其与所述移动目标（10）的表面连续或分成要被按压和接触的多个部分的闭环状态之间进行转换，以及其中与所述移动目标（10）分离的开环状态 ）; 以及形状保持装置，其将所述可变连接装置（100）的形状一致地保持在闭环状态，其中所述可变连接装置（100）在设定压力下被按压并与所述移动目标（10）接触，具体地， 涉及具有根据物体形状进行拉伸变形的连接部件的机器人手和用于控制机器人手的方法，具有能够可靠且稳定地执行包括包围，钩挂和扫掠的拾取和移动操作的结构， 人手执行的各种操作。
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公开(公告)号：KR1020160132153A
公开(公告)日：2016-11-17
申请号：KR1020150062890
申请日：2015-05-06
Applicant: 고려대학교 산학협력단
IPC: G06T7/00
CPC classification number: G06T7/60 , G05D1/0246 , G06K9/6201 , G06T7/10 , G06T7/70 , G06T2207/10028 , G06T2207/20021 , G06T2207/20112 , Y10S901/01
Abstract: 본발명은, 대상영역에대한공간기하정보가입력되는입력단계(S10)와, 상기입력단계에서입력된상기공간기하정보에대하여사전설정선택방식으로임의의영역을선택하여샘플을결정하는샘플링단계(S20)와, 상기샘플링단계에서취한샘플링평면에대한상기공간기하정보의샘플링평면정보를포함하는샘플링정보에기초하여컨벡스헐(convex hull) 방식으로해당샘플링평면에대한특징정보를취득하는특징추출단계(S30)를포함하고, 상기샘플링단계와상기특징추출단계는사전설정된방식으로반복실행되는것을특징으로하는외곽공간특징정보추출방법을제공한다.
Abstract translation: 本发明涉及一种图像处理方法，包括：输入步骤（S10），用于输入关于目标区域的空间几何信息;采样步骤，用于通过预设选择方法为在输入步骤中输入的空间几何信息选择任意区域 （S20），用于基于采样信息来提取相应采样平面的特征信息，所述采样信息包括关于采样步骤中采集的采样平面的空间几何信息的采样平面信息， 其中采样步骤和特征提取步骤以预定方式重复执行。
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公开(公告)号：KR101391525B1
公开(公告)日：2014-05-07
申请号：KR1020120078978
申请日：2012-07-19
Applicant: 고려대학교 산학협력단
Abstract: 본발명은, 감지부와, 저장부와, 상기포인트데이터로부터평면특징으로연산하는연산부와, 상기상기연산부와연결되어연산제어신호를인가하는제어부와, 상기제어부의구동제어신호에따라이동하는구동부를구비하는이동로봇을제공하는제공단계와, 상기제어부의감지제어신호에따라상기감지부가주변영역에대한포인트데이터를감지하는감지단계와, 상기감지부가감지한포인트데이터및 상기저장부의사전설정데이터를이용하여상기제어부가평면특징을추출하는평면특징추출단계와, 상기이전평면특징및 상기현재평면특징으로부터도출되는공간관계를이용하여상기이동로봇의이동에따라획득되는주변환경에대한지도정보를정합하는정보교합단계를포함하고, 상기정보교합단계는: 상기현재평면특징및 상기이전평면특징간의회전일치평면특징짝을선택하는샘플링단계와, 상기회전일치평면특징짝을이용하여상기이동로봇의이전위치와현재위치간의공간관계를추정하고, 상기회전일치평면특징짝을평면특징짝 집합에포함여부를확인하는컨센서스단계를포함하는것을특징으로하는이동로봇의지도형성및 위치인식방법을제공한다
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公开(公告)号：KR101082161B1
公开(公告)日：2011-11-09
申请号：KR1020100059678
申请日：2010-06-23
Applicant: 고려대학교 산학협력단
CPC classification number: A61H3/00 , A61H3/06 , A61H2201/5043 , A61H2201/5048 , A61H2201/5097 , A61H2230/00
Abstract: PURPOSE: A walk assistant device is provided to increase walk convenience of a pedestrian by providing suitable walk information on the real time basis. CONSTITUTION: A walk assistant device comprises: a command input unit(10) capable of inputting various commands about walk; a surrounding environment recognition module(20) grasping spacious information about surrounding environment of a pedestrian; an action prediction module(30) which grasps the walking and metal state of a pedestrian; a calculation module(40) which produces optimal information for walking by calculating various information; and a walk information offering module(50).
Abstract translation: 目的：提供步行辅助装置，通过实时提供合适的步行信息，增加行人的步行便利性。 构成：步行辅助装置包括：能够输入关于步行的各种命令的命令输入单元（10） 掌握有关行人周围环境的宽松信息的周边环境识别模块（20） 动作预测模块（30），其掌握行人的步行和金属状态; 计算模块（40），其通过计算各种信息产生用于行走的最佳信息; 和步行信息提供模块（50）。
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公开(公告)号：KR1020110039037A
公开(公告)日：2011-04-15
申请号：KR1020090096300
申请日：2009-10-09
Applicant: 고려대학교 산학협력단
Abstract: PURPOSE: A method of building a map for a robot moving apparatus is provided to ensure a reliable environmental map since the inaccuracy of an environmental map due to the measuring error of a sensing unit is reduced by utilizing VP(Vanishing Point) information. CONSTITUTION: A method of building a map for a robot moving apparatus is as follows. An input state is initialized, which comprises a relative rotational angle to an absolute coordinate system of the robot moving apparatus(S10). The current state of the robot moving apparatus is predicted based on the input state(S20). A sensing unit senses surrounding environment(S30). A linear path about surrounding environment and a vanishing point about the linear path are taken based on a signal for sensing surrounding environment, and the vanishing point and a translational-movement invariant angle are calculated(S40). Innovation is calculated from a relative normal angle to the linear path and the expectation of the relative normal angle(S50).
Abstract translation: 目的：提供一种建立机器人移动装置的地图的方法，以确保可靠的环境地图，因为通过利用VP（消失点）信息来减少感测单元的测量误差导致的环境地图的不准确性。 构成：用于构建机器人移动装置的地图的方法如下。 输入状态被初始化，其包括与机器人移动装置的绝对坐标系相对的旋转角度（S10）。 基于输入状态预测机器人移动装置的当前状态（S20）。 感测单元感测周围环境（S30）。 基于用于感测周围环境的信号，获取关于周围环境的线性路径和围绕线性路径的消失点，并且计算消失点和平移运动不变角度（S40）。 创新是从相对于线性路径的相对法线角度和相对法线角度的预期来计算的（S50）。
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Patent Agency Ranking
公开(公告)号：KR1020090016535A
公开(公告)日：2009-02-16
申请号：KR1020070080979
申请日：2007-08-11
Applicant: 고려대학교 산학협력단
IPC: B25J5/02
Abstract: Robot movable on the rail and the movable robot system on the rail including the same are provided that the life accident risk generated in transferring can be minimized. A movable robot system on the rail including the robot movable on the rail comprises a guide frame assembly having the horizontal guide frame and perpendicularity guide frame, a robot(10) movable on the rail including robot mobile unit. The rail movable on the rail includes a robot body(100), a robot manipulator(110) which is arranged in the robot body and makes the object work executable, a robot mobile unit(300) arranged in the robot body.
Abstract translation: 在轨道上移动的机器人和包括该轨道的轨道上的可移动机器人系统被设置为可以最小化转移中产生的生命事故风险。 在轨道上的可移动机器人系统包括可在轨道上移动的机器人，其具有引导框架组件，该引导框架组件具有水平引导框架和垂直引导框架，可在轨道上移动的机器人可移动地包括机器人移动单元。 能够在轨道上移动的轨道包括机器人本体（100），机器人机体中配置的机器人机械手（110），能够使对象工作可执行;机器人机体（300），布置在机器人主体中。
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公开(公告)号：KR1020090016534A
公开(公告)日：2009-02-16
申请号：KR1020070080976
申请日：2007-08-11
Applicant: 고려대학교 산학협력단
Abstract: A magnetophoresis boom stand system is provided that the position error is reduced in the transfer of object since the proper height between the boom stand and the work area are secured. A magnetophoresis boom stand system comprises a boom stand(100) arranged on the plane weaving by hands in the building fixing unit, and a conveying unit apparatus. The conveying unit apparatus includes a circumference conveying unit making mobile on the plane weaving the boom stand by hands in the building fixing unit, a rising conveying unit movable to the longitudinal direction of the building fixing unit the boom stand, a boom stand conveying unit for transferring object to the longitudinal direction of the building fixing unit and longitudinal direction of the boom stand.
Abstract translation: 提供了一种磁电泳吊架系统，由于在起重臂支架和工作区域之间的适当高度被固定，因此物体的传送中的位置误差减小。 磁电泳吊架系统包括布置在建筑物固定单元中用手编织的平面上的起重臂支架（100）和输送单元装置。 输送单元装置包括：周边输送单元，其在平面上用手在建筑物固定单元上将起重臂支架移动的平面移动;上升输送单元，其可移动到建筑物固定单元的吊杆架的纵向方向;悬臂架输送单元， 将物体沿建筑物固定单元的纵向方向和吊杆架的纵向方向传送。
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公开(公告)号：KR101615618B1
公开(公告)日：2016-04-28
申请号：KR1020140114372
申请日：2014-08-29
Applicant: 고려대학교 산학협력단
IPC: G06T7/60
Abstract: 본발명은, 현재위치에서대상영역에대한포인트데이터를감지부로검출하는감지단계와, 상기감지단계에서검출된포인트데이터와저장부에저장되는사전설정데이터에기초하여상기포인트데이터중 최외곽포인트에대한가상의슬림패널을형성하고상기슬림패널에다른포인트데이터를투영시켜슬림패널점유율을연산하는외곽사영단계와, 상기외곽사영단계에서산출된슬림패널점유율에기초하여상기슬림패널의슬림패널존재확률을갱신하는갱신단계를포함하는것을특징으로하는벽면구조추출방법을제공한다.
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公开(公告)号：KR1020100050753A
公开(公告)日：2010-05-14
申请号：KR1020080109807
申请日：2008-11-06
Applicant: 고려대학교 산학협력단
CPC classification number: B25J15/00 , B25J15/0023 , B25J15/022 , B60N3/105
Abstract: PURPOSE: A robot hand with a connection unit transformed according to the shape of objects and a robot hand control method are provided to enable the reliable operation of picking and moving objects such as enveloping, hooking, and sweeping. CONSTITUTION: A robot hand comprises a variable connecting device(100), a connection length adjusting device, and a shape-retaining device. The variable connecting device has a connection unit which is contacted with objects and is transformed. The connection length adjusting device operated with a drive part and transforms the shape of the connection unit to convert the connection unit into a closed loop or an open loop. In the closed loop, the connection unit is successively touched with the surface of the objects and in the open loop, the connection unit is separated from the objects.
Abstract translation: 目的：提供具有根据物体形状变换的连接单元的机器人手和机器人手控制方法，以使拾取和移动物体（例如包络，钩住和扫掠）的可靠操作。 构成：机器人手包括可变连接装置（100），连接长度调节装置和形状保持装置。 可变连接装置具有与物体接触并被变换的连接单元。 连接长度调节装置用驱动部件操作，并且转换连接单元的形状以将连接单元转换成闭环或开环。 在闭环中，连接单元与对象的表面相继接触，并且在开环中，连接单元与物体分离。
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公开(公告)号：KR1020100011168A
公开(公告)日：2010-02-03
申请号：KR1020080072272
申请日：2008-07-24
Applicant: 고려대학교 산학협력단
Inventor： 도낙주
CPC classification number: G06K17/0025 , G06K17/0003 , H04B5/0062
Abstract: PURPOSE: A tag unit device, a tag unit system with the device, and a method for controlling the system are provided to minimize initial installation costs and operating costs. CONSTITUTION: A signal processing unit(350) of a unit control block(300) converts voice information obtained by a unit input unit. A unit controller(310) electrically communicates with the signal processing unit. A unit antenna(330) transceives data with a unit tag(20). A unit transceiver(340,360) applies a transceiving signal to the unit antenna according to a control signal of the unit controller.
Abstract translation: 目的：提供标签单元设备，具有该设备的标签单元系统以及用于控制该系统的方法，以最小化初始安装成本和操作成本。 构成：单元控制块（300）的信号处理单元（350）转换由单位输入单元获得的语音信息。 单元控制器（310）与信号处理单元电连通。 单元天线（330）用单位标签（20）收发数据。 单元收发器（340,360）根据单元控制器的控制信号向单元天线施加收发信号。
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