公开(公告)号：KR1020090012613A

公开(公告)日：2009-02-04

申请号：KR1020070076572

申请日：2007-07-30

Applicant: 국방과학연구소

Inventor： 유호상 ,  김윤명 ,  이석우

IPC: G01S5/02

Abstract: A code correlation type distance measurement system having a phase shifter is provided to measure correctly a distance with respect to a low-speed object as well as a high-speed object and furthermore a fixed object. A code generator(210) produces a random code. A transmission signal processing unit(220) distributes a phase-modulated RF detection signal and outputs the distributed signal. A signal regulation unit(230) regulates a phase of the distributed and phase-modulated RF detection signal. A transceiver(240) receives the received signal as the reflected signal of the transmission signal. A reception signal processing unit(250) correlates and processes the reception signal from the transceiver and the amplified signal of the transmission signal processing unit and outputs the processed signal. A control unit(260) outputs a regulation signal for regulating a phase difference between the transmission signal and the reflected signal to the signal regulation unit.

Abstract translation: 提供具有移相器的代码相关型距离测量系统，以正确测量相对于低速物体以及高速物体以及固定物体的距离。 代码生成器（210）产生随机代码。 传输信号处理单元（220）分配相位调制的RF检测信号并输出​​分布式信号。 信号调节单元（230）调节分布和相位调制的RF检测信号的相位。 收发器（240）接收接收的信号作为发送信号的反射信号。 接收信号处理单元（250）将来自收发器的接收信号和发送信号处理单元的放大信号相关并处理，并输出处理后的信号。 控制单元（260）向信号调节单元输出用于调节发送信号和反射信号之间的相位差的调节信号。

公开(公告)号：KR101139342B1

公开(公告)日：2012-04-26

申请号：KR1020110030959

申请日：2011-04-05

Applicant: 국방과학연구소

Inventor： 이명천 ,  지태영 ,  강신천 ,  박원성 ,  유호상

IPC: B25J5/00 ,  B62D55/08 ,  B62D55/075

Abstract: PURPOSE: A flipper for a mobile robot is provided to improve pulling force by increasing the contact area of a drive belt and the ground and to improve the mobility of a mobile robot reagardless of topographcial conditions. CONSTITUTION: A flipper for a mobile robot comprises a main wheel assembly, a drive shaft(30), a main bracket(50), a sub wheel assembly(20), and a drive belt(40). The main wheel assembly is meshed with a main shaft of a robot body and is rotated. The drive shaft is integrally connected to a sub shaft of the robot body and rotatably supports the main wheel assembly. The main bracket supports the main wheel assembly and is rotated by the drive shaft. The sub wheel assembly is rotatably coupled to a driven shaft installed in the other side of the main bracket. The drive belt is coupled to the outer surfaces of the main and sub wheel assemblies and is moved along the outer surface of a guide(55) of the main bracket.

Abstract translation: 目的：提供移动机器人的导板，通过增加驱动皮带和地面的接触面积来提高拉力，并提高移动机器人的移动性，而不必考虑地形条件。 构成：用于移动机器人的导板包括主轮组件，驱动轴（30），主支架（50），子轮组件（20）和驱动带（40）。 主轮组件与机器人主体的主轴啮合并旋转。 驱动轴与机器人主体的副轴一体连接，可转动地支撑主轮组件。 主支架支撑主轮组件，并由驱动轴旋转。 子轮组件可旋转地联接到安装在主支架另一侧的从动轴。 传动皮带联接到主轮和副轮组件的外表面，并沿着主支架的引导件（55）的外表面移动。

公开(公告)号：KR100893139B1

公开(公告)日：2009-04-16

申请号：KR1020070076572

申请日：2007-07-30

Applicant: 국방과학연구소

Inventor： 유호상 ,  김윤명 ,  이석우

IPC: G01S5/02

Abstract: 본 발명은 거리 측정 장치에 관한 것으로서, 고속 이동 물체 뿐만 아니라 저속 이동 물체, 더 나아가 고정 물체에 대해서도 거리 측정을 가능하도록 하는 것을 목적으로 한다. 상기와 같은 목적을 달성하기 위하여, 본 발명은 송신 신호의 위상을 가변함으로써, 수신 신호와 송신 신호 간의 위상 차이 가 범위에서 발생하도록 하여, 고정물체 및 저속 이동물체에 대해서도 정확한 거리 측정이 가능하도록 한다.