-
公开(公告)号：KR1020160003497A
公开(公告)日：2016-01-11
申请号：KR1020140082025
申请日：2014-07-01
Applicant: 국방과학연구소
Abstract: 본발명은로봇의이동플랫폼에관한것이다. 본발명의일 실시예에따른플리퍼를구비한로봇의이동플랫폼은, 좌측상부레그트랙및 상기좌측상부레그트랙의끝단과회전축으로시작단이결합되는좌측하부레그트랙을포함하는좌측레그어셈블리; 우측상부레그트랙및 상기우측상부레그트랙의끝단과회전축으로시작단이결합되는우측하부레그트랙을포함하는우측레그어셈블리; 및상기좌측하부레그트랙의끝단및 우측하부레그트랙의끝단각각에플리퍼회전축으로회전가능하게결합되는좌측및 우측플리퍼;를포함한다.
Abstract translation: 本发明涉及具有导板的机器人的移动平台。 根据本发明的实施例，具有导板的机器人的移动平台包括：左腿组件，其包括左上腿轨道和左脚踏轨道，该左腿腿轨道具有联接到左上腿的端部的起始端 通过旋转轴轨道; 右腿组件，其包括右上腿轨道和右底腿轨道，其具有通过旋转轴联接到右上腿轨道的端部的起始端; 以及分别连接到左底腿轨道和右底脚轨道的端部的左右翼片，以便通过脚踏板旋转轴旋转。 因此，本发明通过将脚蹼连接到底部腿部轨道的端部来提高机器人拾起受伤的人的稳定性。
-
公开(公告)号：KR101533312B1
公开(公告)日：2015-07-03
申请号：KR1020130013931
申请日：2013-02-07
Applicant: 국방과학연구소
CPC classification number: Y02T10/7005
Abstract: 본발명의무인원격차량에는제동제어장치가구비되고, 제동제어장치가경사지에서또는평지에서필요시제동시스템을통해차량을정지하려고할 때유압브레이크의일정압을체크하여모터의제어모드를기존의속도모드에서토크모드로변경하며, 다시일정속도이하를체크하여그 이하에도달하면곧바로모터의제어모드를토크모드에서속도모드로재 변경하는일련의제동제어를구현함으로써, 모터브레이크힘으로경사로에서차량밀림을최소화또는방지하는특징을갖는다.
-
公开(公告)号：KR101372331B1
公开(公告)日：2014-03-25
申请号：KR1020130127834
申请日：2013-10-25
Applicant: 국방과학연구소
IPC: E04H12/18
CPC classification number: E04H12/182
Abstract: The present invention provides: a band which is wound or unwound along a drum; a mast which is linked to the band to enable changing the length of the mast according to the winding and unwinding of the band and is equipped with multiple bodies connected to each other in forms of the telescoping; and an expanding device which is installed on at least one of the bodies and includes a band guide that covers the band in the direction from the inside to the outside of at least one of the multiple bodies and thereby prevents a twist of the band. [Reference numerals] (AA) Operation device (sensor)
Abstract translation: 本发明提供：沿着滚筒卷绕或展开的带子; 桅杆，其连接到所述带，以能够根据所述带的卷绕和展开来改变所述桅杆的长度，并且配备有以伸缩的形式彼此连接的多个主体; 以及扩展装置，其安装在所述主体中的至少一个上，并且包括带导向件，所述带导向件沿着从所述多个主体中的至少一个的内侧到外部的方向覆盖所述带，从而防止所述带的扭曲。 （附图标记）（AA）操作装置（传感器）
-
公开(公告)号：KR101116033B1
公开(公告)日：2012-03-13
申请号：KR1020110109583
申请日：2011-10-25
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0278 , G05D1/024 , G05D1/0246
Abstract: PURPOSE: An autonomous return system, an autonomous mobile vehicle including the same, and an autonomous travel method of the autonomous mobile vehicle are provided to switch an absolute position estimation process and a relative position estimation process by setting the number of usable GPS(Global Positioning System) satellites as a judgment standard. CONSTITUTION: A location receiver receives position data of a main body. A satellite tracking part tracks the number of GPS(Global Positioning System) satellites(110). A driving method determination part determines a driving method according to the number of tracked GPS satellites. An operation part based on an absolute location includes an absolute location determination part and a first path setting part. An absolute position of a main body is determined by an absolute position determination part. A first route determination part outputs a return command to a driving control part. A controller(100) manages inputted and outputted information.
Abstract translation: 目的：提供一种自主返回系统，包括该自主移动车辆的自主移动车辆和自主移动车辆的自主旅行方法，通过设置可用的GPS（全球定位）的数量来切换绝对位置估计处理和相对位置估计处理 系统）卫星作为判断标准。 构成：位置接收器接收主体的位置数据。 卫星跟踪部分跟踪GPS（全球定位系统）卫星的数量（110）。 驾驶方法确定部件根据跟踪的GPS卫星的数量确定驾驶方法。 基于绝对位置的操作部分包括绝对位置确定部分和第一路径设置部分。 主体的绝对位置由绝对位置确定部确定。 第一路径确定部分向驾驶控制部分输出返回命令。 控制器（100）管理输入和输出的信息。
-
5.发明授权자율 이동 차량의 속도 결정 장치, 이를 구비하는 자율 이동 차량 및 자율 이동 차량의 속도 결정 방법 有权用于确定自动车辆速度的装置，具有该自动车辆的自动车辆和用于确定自动车辆速度的方法
公开(公告)号：KR101041929B1
公开(公告)日：2011-06-16
申请号：KR1020100139531
申请日：2010-12-30
Applicant: 국방과학연구소
CPC classification number: G05D1/0214 , G01P3/00 , G05D1/0223 , G05D1/0236 , G05D1/0242
Abstract: PURPOSE: A device for determining the velocity of an autonomous vehicle, an autonomous vehicle having the same and method for determining the velocity of the autonomous vehicle are provided to control the traveling speed of an autonomous vehicle according to the position and time of the movable obstacle. CONSTITUTION: In a device for determining the velocity of an autonomous vehicle, an autonomous vehicle having the same and method for determining the velocity of the autonomous vehicle, a body(110) automatically is movable and has a driving unit and a receiver. An autonomous vehicle(100) comprises a plurality of wheels(111). The autonomous vehicle receives the group of route points form a remote control unit(200). The receiver includes a sensor and a wireless communication device. A steering control apparatus generates a steering command.
Abstract translation: 目的：提供一种用于确定自主车辆的速度的装置，具有相同自主车辆的自动车辆和用于确定自主车辆的速度的方法，以根据可移动障碍物的位置和时间来控制自主车辆的行驶速度 。 构成：在用于确定自主车辆的速度的装置中，具有相同的自主车辆和用于确定自主车辆的速度的方法，主体（110）自动地可移动并具有驱动单元和接收器。 自主车辆（100）包括多个车轮（111）。 自主车辆从远程控制单元（200）接收路线点组。 接收机包括传感器和无线通信设备。 转向控制装置产生转向指令。
-
Patent Agency Ranking
-
公开(公告)号：KR101677983B1
公开(公告)日：2016-11-21
申请号：KR1020140128528
申请日：2014-09-25
Applicant: 국방과학연구소
Abstract: 예시적인실시예들에따른하이브리드가변형플랫폼이동장치를갖는이동로봇은로봇몸체및 로봇몸체를지지하고이동시키는가변형플랫폼을포함할수 있다. 가변형플랫폼은로봇몸체를지지하고로봇몸체에회전가능하도록상부레그회전축을통하여연결되고제1 방향으로연장되는상부레그, 지면으로부터로봇몸체및 상부레그를지지하기위하여상부레그의일측부와연결되고제1 방향과교차하는제2 방향으로연장되는하부레그, 휠회전축을통하여상부레그와연결되고구동될수 있는적어도하나의휠, 및하부레그의외주면을따라형성되는트랙벨트를포함할수 있다. 상기휠 및상기트랙벨트중 적어도하나가상기지면에닿을수 있게상기상부레그및 상기하부레그는회전축을통하여상대회전가능하므로, 이동로봇은소비전력을낮추고평지에서의신속성을확보할수 있다.
-
公开(公告)号：KR1020150112599A
公开(公告)日：2015-10-07
申请号：KR1020140037094
申请日：2014-03-28
Applicant: 국방과학연구소
Abstract: 본발명은하지와상지사이에형성되어충격및 진동을최소화하고, 상지및 하지를수동및 능동제어하도록형성되는직렬탄성구동기를포함한다. 구동모터의회전력을이용하여상지와하지를능동제어하고, 하우징내에배치되는독립적인스프링에의하여상지와하지사이에작용하는힘에따라상지와하지를수동제어할수 있다.
Abstract translation: 根据本发明，在下肢和上肢之间形成类人形机器人，以最小化冲击和振动，并且包括形成为手动且主动地控制上肢和下肢的串联弹性致动器。 可以通过使用驱动马达的旋转力来主动地控制上肢和下肢。 可以通过布置在壳体内的独立弹簧根据施加在上肢和下肢之间的力手动控制上肢和下肢。
-
公开(公告)号：KR1020130071197A
公开(公告)日：2013-06-28
申请号：KR1020110138570
申请日：2011-12-20
Applicant: 국방과학연구소
CPC classification number: G01L3/06 , B60W40/12 , G01L5/0057
Abstract: PURPOSE: A vertical force estimator of wheel vehicles and a method thereof are provided to predict vertical force on new type wheels by having torque information of wheels and arm rotation angles of wheel vehicles having arm shaped suspension. CONSTITUTION: A vertical force estimation method of wheel vehicles comprises the following steps: (S10) detecting rotation information of arms for a main body; (S11) detecting torque information operated on wheels; (S12) calculating spring torque applied on the arms using torque information of wheels and rotation information of the arms; and (S13) estimating the vertical force acted on the wheels by using information of the detected arms and main body. A vertical force estimator of wheel vehicles comprises a main body which equips an arm driving unit which drives the arms and rotary arms; wheels which are rotatably mounted on the arms; a cylinder which is extended or compressed as relatively moving for an output shaft of the arm driving unit; first and second sensors which respectively detects torque information applied in the rotation information of the arms for the main body and the wheels; and a control unit which estimates vertical force acted on the wheels by using information of calculated arms and the main body and calculating spring torque applied in the arms by using torque information of wheels and rotation information of the detected arms. [Reference numerals] (AA) Start; (BB) End; (S10) Detecting rotation information of arms for a main body; (S11) Detecting torque information operated on wheels; (S12) Calculating spring torque applied on the arms using torque information of wheels and rotation information of the arms; (S13) Estimating the vertical force acted on the wheels by using information of the detected arms and main body
Abstract translation: 目的：提供轮式车辆的垂直力估计器及其方法，通过具有轮臂和转臂角度的转向信息来预测新型车轮的垂直力。 构成：车轮的垂直力估计方法包括以下步骤：（S10）检测主体的臂的旋转信息; （S11）检测在车轮上操作的扭矩信息; （S12）使用车轮的转矩信息和臂的旋转信息来计算施加在臂上的弹簧扭矩; 以及（S13）通过使用检测到的臂和主体的信息估计作用在车轮上的垂直力。 车轮的垂直力估计器包括：主体，其配备驱动臂和旋转臂的臂驱动单元; 轮可旋转地安装在臂上; 对臂驱动单元的输出轴相对移动地延伸或压缩的气缸; 第一和第二传感器，其分别检测施加在主体和车轮的臂的旋转信息中的扭矩信息; 以及控制单元，其通过使用计算的臂和主体的信息来估计作用在车轮上的垂直力，并且通过使用车轮的扭矩信息和检测到的臂的旋转信息来计算施加在臂中的弹簧扭矩。 （附图标记）（AA）开始; （BB）结束; （S10）检测主体的臂的旋转信息; （S11）检测在车轮上操作的扭矩信息; （S12）使用车轮的转矩信息和臂的旋转信息来计算施加在臂上的弹簧扭矩; （S13）通过使用检测到的臂和主体的信息来估计作用在车轮上的垂直力
-
公开(公告)号：KR101141947B1
公开(公告)日：2012-05-04
申请号：KR1020110121725
申请日：2011-11-21
Applicant: 국방과학연구소
Abstract: PURPOSE: A wheel apparatus and a vehicle equipped with the wheel apparatus is able to be applied a remote control robot, a self control moving robot, and a compact unmanned robot and driven at high speed in the paved road and driven in the unpaved road with getting over the obstacle. CONSTITUTION: A wheel apparatus comprises a track assembly, a track wheel, and driving wheel(260). The track assemblies are connected with each other and forms a caterpillar(52). The traveling wheel is connected to the track assembly to be rotated and comprises a first diameter. The driving wheel is coupled with the track wheel and comprises a second diameter longer than the first diameter.
Abstract translation: 目的：配备轮式装置的轮装置和车辆能够应用遥控机器人，自动控制移动机器人和紧凑型无人机器人，并且在铺设的道路中以高速驱动并且在未铺砌道路中被驱动， 越过障碍 构成：轮装置包括轨道组件，履带轮和驱动轮（260）。 轨道组件彼此连接并形成履带（52）。 行进轮连接到轨道组件以旋转并且包括第一直径。 驱动轮与履带轮联接并且包括比第一直径长的第二直径。
-
-
-
-
-
-
-
-
-
Search Results
40
records
(took 0.027 seconds)
