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公开(公告)号：KR101458502B1
公开(公告)日：2014-11-07
申请号：KR1020130032613
申请日：2013-03-27
Applicant: 국방과학연구소
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.
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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。
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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。
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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。
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5.发明授权자율 이동 차량의 장애물 지도 생성 장치, 이를 구비하는 자율 이동 차량 및 자율 이동 차량의 장애물 지도 생성 방법 有权用于创建自动车辆的自动车辆地图的装置，具有该自动车辆的自动车辆的装置和用于创建自动车辆的OBSTACLE地图的方法
公开(公告)号：KR101041930B1
公开(公告)日：2011-06-16
申请号：KR1020100139536
申请日：2010-12-30
Applicant: 국방과학연구소
CPC classification number: G05D1/0214
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 translation: 目的：提供一种用于创建自主车辆的障碍物图的装置，具有相同的自主车辆和用于创建自主车辆的障碍物图的方法，以通过使用不同的高度差和梯度来生成自主车辆的障碍物图。 构成：在自主车辆的障碍物图生成装置中，具有相同的自主车辆和自主车辆的障碍图的制造方法“自主车辆（100）产生自主驾驶指令。 主体（110）包括驱动单元和接收器。 自主车辆从远程控制单元（200）接收一组路线点。 转向控制装置产生转向指令，使得主体跟随估计的路线点。 驱动控制器控制主体的驱动单元。
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Patent Agency Ranking
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。
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公开(公告)号：KR101704602B1
公开(公告)日：2017-02-22
申请号：KR1020150176219
申请日：2015-12-10
Applicant: 국방과학연구소
Abstract: 본발명에따른이동기기와, 이동기기에대한원격제어를제공하는사용자단말기를포함하는원격제어가이드시스템에있어서, 이동기기는상기이동기기의주변환경과관련된정보를탐지하는 3차원탐지부, 상기이동기기의자세및 주행과관련된정보를생성하는항법부, 상기 3차원탐지부에서감지된정보와, 상기항법부에서생성된정보중 적어도하나를이용하여상기이동기기의주행과관련된가이드정보를생성하는제어부및 상기생성된가이드정보를상기사용자단말기로전송하는통신부를포함하고, 사용자단말기는상기이동기기의주행영상과상기전송된가이드정보를출력하고, 상기이동기기의주행과관련된원격명령을생성하고, 생성된원격명령을상기이동기기로전송하는것을특징으로한다.
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公开(公告)号：KR101628155B1
公开(公告)日：2016-06-08
申请号：KR1020150057239
申请日：2015-04-23
Applicant: 국방과학연구소
Abstract: 본발명은무인차량의자유주행기술에관한것으로서, 더상세하게는 CCL(Connected Component Labeling)을이용하여주어진포인트클라우드에서이동물체의개수나이동물체에대한어떠한정보없이탐지및 추적하는방법에대한것이다.
Abstract translation: 本发明涉及一种无人驾驶车辆的自动驾驶技术，更具体地说，涉及通过使用没有移动物体数量的连接部件标签（CCL）和相对于移动体的任何信息的给定点云中的检测和跟踪方法 对象。
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9.发明授权ＣＤＧＰＳ를 이용한 자율 이동 차량의 위치 추정 시스템, 이를 구비한 자율 이동 차량 및 자율 이동 차량의 위치 추정 방법 有权使用CDGPS估算自动车辆的位置系统，具有该自动车辆的自动车辆和估算自动车辆的位置方法
公开(公告)号：KR101265091B1
公开(公告)日：2013-05-20
申请号：KR1020110109584
申请日：2011-10-25
Applicant: 국방과학연구소
Abstract: 본발명의일 실시예에따르는 CDGPS를이용한자율이동차량의위치추정시스템은, 기지국과의통신을통해현재위치를파악할수 있도록형성되는반송파보정위성항법장치(CDGPS)부와, GPS 위성의신호를수신하여현재위치를파악할수 있도록형성되는 GPS부와, 상기 CDGPS부로부터출력되는제1 신호를모니터링하고, 제1 신호가단절될때, 상기 GPS부로부터출력되는제2 신호를수신하도록전환하는수신전환부및 상기제1 신호또는제2 신호에기초하여자율이동차량의현재위치를추정하는위치추정부를포함함으로써, 자율주행차량은불확실한상황하에서도현재위치를정확히산출하여목표지점까지도달하거나최초위치로안전하게복귀할수 있다.
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公开(公告)号：KR101141603B1
公开(公告)日：2012-05-17
申请号：KR1020110100456
申请日：2011-10-04
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.
Abstract translation: 目的：提供用于在多频率环境下管理远程操作的机器人的远程控制系统和远程控制方法，以便当远程机器人通过将远程机器人移动到远程机器人而改变通信频率时，执行当前任务，而不管远程机器人的频率变化如何 其他FA（频域）。 构成：远程控制系统（200）包括基站（102 / 1,102 / 2），基站管理单元（204）和远程操作设备（2000）。 使用多个FA将两个或更多个机器人（101,102）连接到基站。 基站管理单元接收并更新总通信流量并呈现基站的通信带宽，并且在远程机器人的频带的改变之后保存远程机器人的任务信息和状态信息之后改变远程机器人的频带 机器人是要求。 远程操作装置在保存了远程机器人的任务信息和状态信息并改变基站管理单元的频带以使得恢复任务信息和状态信息之后管理基站管理。
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