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公开(公告)号：KR101866048B1
公开(公告)日：2018-06-08
申请号：KR1020160109165
申请日：2016-08-26
Applicant: 국방과학연구소
Abstract: 본발명은각 로봇별로과업을할당하고, 로봇과과업의적합도를산정하여최적의상태로각 로봇에과업이할당되도록하는다중로봇의임무할당을위한로봇의과업적합도산정방법에관한것이다.본발명에따른, 다중로봇의임무할당을위한로봇의과업적합도산정방법은, 복수의로봇을구비한다중로봇시스템에서상기각 로봇이할당된과업들을완수하여상기다중로봇시스템이임무를수행할수 있도록각 로봇에과업을할당하는방법에있어서, 로봇과과업의적합도를산출하기위하여, 상기다중로봇시스템에과업을부여할로봇을입력하고, 상기임무를구성하고상기다중로봇시스템을통하여수행되어야하는과업들을입력하는초기입력단계(S110)와, 상기초기입력단계(S110)에서입력된과업을분석하여, 상기과업을수행하는데 필요한장비의구성비를산출하는과업분석단계(S120)와, 상기초기입력단계(S110)에서입력된로봇들에장착된장비를분석하여, 상기로봇에장착된장비를평가하는로봇장비분석단계(S130)와, 상기과업분석단계(S120)에서구해진각 장비의구성비와상기로봇장비분석단계(S130)에서평가된각 장비의점수를조합하여, 각로봇과과업간의적합도를계산하는적합도계산단계(S140)를포함하는것을특징으로한다.
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公开(公告)号：KR1020160107733A
公开(公告)日：2016-09-19
申请号：KR1020150030918
申请日：2015-03-05
Applicant: 국방과학연구소
CPC classification number: G01C21/26 , G01C11/00 , G09B29/003
Abstract: 본발명은히스토그램유사도기반디지털지형정보의도로정보개선방법및 개선장치에관한것이다. 본발명의일 실시예에따른히스토그램유사도기반디지털지형정보의도로정보개선방법은디지털지형정보(FDB, Feature DataBase) 및항공영상을입력하는단계(S100); 상기디지털지형정보로부터도로히스토그램을생성하는단계(S200); 상기항공영상으로부터블록히스토그램을생성하는단계(S300); 및상기도로히스토그램및 상기블록히스토그램을이용하여도로여부를추정하는단계(S400);를포함한다. 본발명에따르면, 무인로봇의임무통제분야의임무계획단계에서개선된도로정보를바탕으로이동경로를생성함으로써임무시간을단축하고연료를절약할수 있다.
Abstract translation: 本发明涉及一种基于直方图相似度来改善数字地理信息的道路信息的方法和装置。 根据本发明的实施例的用于改进基于直方图相似度的数字地理信息道路信息的方法包括：输入数字地理信息（FDB，特征数据库）和航空图像的步骤（S100） 从所述数字地理信息生成道路直方图的步骤（S200）; 从所述航空图像生成块直方图的步骤（S300）; 以及通过使用道路直方图和块直方图来估计道路的步骤。 根据本发明，在无人机器人的任务控制领域的任务调度步骤中，基于改进的道路信息生成移动路径，从而减少任务时间并节省燃料。
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公开(公告)号：KR101390769B1
公开(公告)日：2014-05-02
申请号：KR1020130029371
申请日：2013-03-19
Applicant: 국방과학연구소
CPC classification number: H01Q1/1242 , H01Q1/103 , H01Q1/1235 , H01Q1/27
Abstract: A mast driving apparatus for a mobile platform according to an embodiment of the present invention comprises a mast operated in the upright direction on a ground surface and containing a spherical protruded part which is protruded to the outside of a central portion; an upper mounting structure covering around the protruded part and including a ball joint which is formed to move relatively with the protruded part; and a lower mounting structure connected to the lower end part of the mast in order to adjust the position of the mast, and formed to move the lower end part thereof in the horizontal direction to the ground.
Abstract translation: 根据本发明的实施例的用于移动平台的桅杆驱动装置包括在地面上沿垂直方向操作并具有突出到中心部分外侧的球形突出部的桅杆; 上部安装结构覆盖在突出部分周围，并且包括形成为与突出部分相对移动的球窝接头; 以及连接到桅杆的下端部的下部安装结构，以调节桅杆的位置，并且将其下端部沿水平方向移动到地面。
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Patent Agency Ranking
公开(公告)号：KR101262697B1
公开(公告)日：2013-05-15
申请号：KR1020120147708
申请日：2012-12-17
Applicant: 국방과학연구소
IPC: B25J9/16 , G05B19/418 , B25J13/06
CPC classification number: Y02P90/02
Abstract: PURPOSE: A system for producing a formation of a robot and a method thereof are provided to autonomously produce various formations based on dispersed intelligence and ad-hoc networking, and to improve an operation effect of the robot. CONSTITUTION: A system(10) for producing a formation of a robot comprises a control system(100), a seed robot, and a follower robot. The seed robot selects one or more robots responding to a call signal as the follower robot, and produces an arbitrary formation through interlocking with the follower robot. The follower robot is transferred to a formation position point coordinate included to the call signal transmitted from the seed robot. The formation starting command includes information about the arbitrary formation and parameter setup information related to the formation. [Reference numerals] (100) Control system; (200) Communication network; (300) Ad-hoc network; (310,320,330,340,350) Robot
Abstract translation: 目的：提供一种用于生成机器人的形成的系统及其方法，用于基于分散的智能和自组织网络自主地生成各种结构，并且改善机器人的操作效果。 构成：用于产生机器人形成的系统（10）包括控制系统（100），种子机器人和从动机器人。 种子机器人选择响应于呼叫信号的一个或多个机器人作为从动机器人，并且通过与从动机器人互锁产生任意形成。 跟随机器人被转移到从种子机器人发送的呼叫信号所包含的形成位置点坐标。 地层起动指令包括有关地层的任意地层和参数设置信息。 （附图标记）（100）控制系统; （200）通讯网络; （300）Ad-hoc网络; （310,320,330,340,350）机器人
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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：KR101056681B1
公开(公告)日：2011-08-12
申请号：KR1020110027163
申请日：2011-03-25
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D1/0214
Abstract: PURPOSE: An autonomic movement apparatus for considering stability and improving moving efficiency and a method for setting a route thereof and an autonomic movement system are provided to design a wide area route from map data and timely revise the wide area route from the wide area route of being planned in consideration of geomorphic data, and efficiently sets the movement route of the autonomic movement apparatus in a wide region. CONSTITUTION: A remote control apparatus(20) transmits map data including altitude information to an autonomic movement apparatus(10). The autonomic movement apparatus generates a grid map for a wide area based on the map data, sets a wide area route from an initial point to a target point in the grid map for the wide area, generates the revised grid map of the wide area based on the data detected by scanning surroundings, and sets the revised route of the wide from the wide area.
Abstract translation: 目的：提出一种用于考虑稳定性和提高移动效率的自主运动装置，以及用于设置其路线和自主运动系统的方法，以从地图数据设计广域线路，并从广域线路 考虑到地形数据进行计划，并且在广泛的区域中有效地设置自主运动装置的移动路线。 构成：远程控制装置（20）将包括高度信息的地图数据发送到自主运动装置（10）。 自主运动装置基于地图数据生成广域的网格图，设定从广域的网格图中的初始点到目标点的广域路线，生成广域的修改网格图 对扫描环境检测到的数据，并从广域设置广泛的修改路由。
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公开(公告)号：KR101054479B1
公开(公告)日：2011-08-05
申请号：KR1020090026572
申请日：2009-03-27
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0223
Abstract: 본 발명은 지형감지용 센서로부터 획득한 지형정보에 기반하여 작성된 방향별 주행성 속도지도(DVGM, Directional Velocity Grid Map)를 통하여 최적경로를 설정하는 방법 및 장치에 관한 것이다.
상기 장치는 무인차량에 장착된 지형감지용센서로부터 획득한 특정영역의 지형정보 및 장애물정보를 활용하여 목표점 지향적이며 최단 이동시간을 고려하는 지역경로계획에 있어서, 1) 지형감지센서로부터 지형정보를 수집하는 지형정보획득모듈, 2) 상기 지리정보획득모듈에 의해 수집된 특정 영역에 대한 지리학적 정보 내에 장애물이 위치하고 있는 정보를 추출하는 장애물정보추출모듈, 3) 상기 지리정보획득모듈과 상기 장애물정보추출모듈로부터 추출된 지형정보에 기초하여 무인차량의 방향별 주행속도를 산출하고, 4) 상기 산출한 방향별 주행속도를 반영한 격자기반의 방향별 주행성 속도지도(DVGM)를 생성하는 주행성 속도지도(DVGM) 산출모듈, 상기 주행성 속도지도 산출모듈로부터 산출된 주행성 속도지도를 통하여 최적지역경로설정 알고리즘에 의한 경로를 산출하는 경로기획산출모듈을 포함하는 무인차량의 지역경로계획장치를 포함한다.
무인차량, 방향별 주행성 속도지도, 지역경로계획 방법, 퍼지추론 -
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