Abstract:
본 발명은 무인자율차량을 위한 주행경로 생성장치 및 이의 제어방법에 관한 것으로, 상기 주행경로 생성장치는 외부의 지형과 장애물을 센싱하여 지형정보와 장애물정보를 수집하는 지형감지센서부; 무인자율차량의 자율주행을 위해 사전에 저장된 도로에 관한 도로환경정보를 관리하고, 상기 지형감지센서부에 의해 수집된 지형정보 및 장애물정보를 활용하여 도로 표면에 대한 도로표면정보를 추출하며, 상기 수집된 지형정보 및 장애물정보를 활용하여 격자지도를 생성하고, 상기 관리되는 도로환경정보와 상기 추출되는 도로표면정보와 상기 생성되는 격자지도를 활용하여 출발점으로부터 목표점까지 무인자율차량의 자율주행을 위한 경로계획을 수립하며, 상기 수립된 경로계획의 상태와 상기 도로환경정보 및 상기 도로표면정보를 분석하고, 이 분석결과를 사전에 정해진 천이조건 및 기준과 비교하여 상기 경로계획의 상태의 천이에 대한 의사결정을 수행하는 자율주행판단부; 및 상기 의사결정에 의해 상태가 천이된 경로계획에 따라 무인자율차량을 주행하도록 제어하는 주행제어부를 포함하는 것을 특징으로 한다. 이에 의해 본 발명은 환경모드와 주행모드의 조합으로 정의되는 상태 기반의 경로계획 기법을 적용함으로써 도심환경에서 무인자율차량의 효과적인 경로생성이 가능하다.
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:
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:
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:
PURPOSE: An apparatus for creating obstacle map of an autonomous vehicle, the autonomous vehicle having the same and method for creating an obstacle map of the autonomous vehicle are provided to generate the obstacle map of the autonomous vehicle by using different height difference and gradient. CONSTITUTION: In an apparatus for creating obstacle map of an autonomous vehicle, the autonomous vehicle having the same and method for creating an obstacle map of the autonomous vehicle, ' An autonomous vehicle(100) generates an autonomic driving command. A main body(110) includes a driving unit and a receiver. The autonomous vehicle receives a group of route points from a remote control unit(200). A steering control apparatus generates a steering command so that the main body follows estimated route point. The driving controller controls the driving unit of the main body.
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:
PURPOSE: A remote control system for managing a remotely operated robot under multiple frequency environment and a remote control method are provided to perform a current mission regardless of a frequency change by a remote robot when a communication frequency is changed by moving the remote robot to the other FAs(Frequency Area). CONSTITUTION: A remote control system(200) comprises base stations(102/1,102/2), a base station management unit(204), and a remote operation device(2000). Two or more robots(101,102) are connected to the base stations using multiple FAs. The base station management unit receives and updates a total communication traffic and present communication bandwidth of the base stations and changes the frequency band of the remote robot after saving task information and state information of the remote robot when the change of the frequency band of the remote robot is request. The remote operation device manages the base station management after saving the task information and state information of the remote robot and changing the frequency band of the base station management unit so that the task information and state information is recovered.