公开(公告)号：KR101178771B1

公开(公告)日：2012-09-07

申请号：KR1020110124471

申请日：2011-11-25

Applicant: 국방과학연구소

Inventor： 이명천 ,  지태영 ,  이상훈 ,  강신천

IPC: B62D11/22 ,  B62D55/065 ,  B62D11/00

Abstract: PURPOSE: A multi-wheel vehicle and a driving control method thereof are provided to secure stable driving of the vehicle by changing the composition of the wheel position according to the driving conditions in real time. CONSTITUTION: A multi-wheel vehicle(100) comprises a body(110), driving wheels(120a, 120b, 120c, 120d), arms(140a, 140b, 140c, 140d), a clutch, and a control unit. The driving wheels are coupled with rotation shaft modules formed in the side portion of the body respectively. In-wheel motors are installed in each driving wheel. Driven wheels are installed in one side of the arms. The arms are coupled with the rotation shaft modules to be rotated. The clutch rotates rotation shaft modules and arms according to the driving mode of a vehicle. The clutch is installed between the arms and the driving wheels. The control unit determines the driving mode according to physiographic features. The control unit controls the operation of the clutch.

Abstract translation: 目的：提供一种多轮车辆及其驾驶控制方法，通过根据行驶条件实时改变车轮位置的组成来确保车辆的稳定驾驶。 构成：多轮车辆（100）包括主体（110），驱动轮（120a，120b，120c，120d），臂（140a，140b，140c，140d），离合器和控制单元。 驱动轮分别与形成在主体的侧部中的旋转轴模块相结合。 车轮电机安装在每个驱动轮中。 驱动轮安装在臂的一侧。 臂与旋转轴模块联接以旋转。 离合器根据车辆的驾驶模式旋转轴组件和臂。 离合器安装在臂和驱动轮之间。 控制单元根据地理特征确定驾驶模式。 控制单元控制离合器的操作。

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

Inventor： 심성대 ,  김준 ,  최지훈 ,  지태영 ,  박용운

IPC: B25J13/08 ,  G05D1/02 ,  B62D11/00

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。

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：KR101331832B1

公开(公告)日：2013-11-22

申请号：KR1020110102725

申请日：2011-10-07

Applicant: 국방과학연구소

Inventor： 지태영 ,  강신천 ,  허진욱 ,  이명천

IPC: H04B7/14 ,  G05D1/02 ,  H04B1/59

Abstract: 본 발명은 적어도 하나 이상의 중계기를 자율 주행 로봇에 장착하여, 주행중에 원격 제어단말과 통신 감도가 양호하지 않은 경우 중계기를 투하하여 통신을 수행함으로써 외부 통신 시설이나 인프라에 의존하지 않고 자체적으로 원격 제어단말과 원활한 통신을 수행할 수 있으며, 작전이 종료되어 원 위치로 복귀할 때 기 투하된 중계기를 회수함으로써 보안 문제로부터 자유롭고 재사용이 가능하도록 한 중계기를 갖는 자율 주행 로봇, 그의 통신방법 및 중계기 투하/회수방법에 관한 것이다.

公开(公告)号：KR1020130038074A

公开(公告)日：2013-04-17

申请号：KR1020110102725

申请日：2011-10-07

Applicant: 국방과학연구소

Inventor： 지태영 ,  강신천 ,  허진욱 ,  이명천

IPC: H04B7/14 ,  G05D1/02 ,  H04B1/59

CPC classification number: H04B7/15507 ,  B25J11/002

Abstract: PURPOSE: A communication system including a repeater, an autonomous robot, and a communication method thereof are provided to enable a robot to maintain smooth communication with a remote control terminal. CONSTITUTION: A mounting unit(110) includes multiple dent areas formed on the boundary of a main body. One or more repeaters(200) are mounted on the mounting unit. An electromagnet unit(120) attaches or detaches a repeater with an electromagnetic force. When communication sensitivity with a remote control device is reduced, a control unit applies the electromagnetic force to the electromagnet unit. The control unit drops the repeater mounted on the mounting unit to the ground. The control unit communicates with the remote control device through the corresponding repeater.

Abstract translation: 目的：提供一种包括中继器，自主机器人及其通信方法的通信系统，以使机器人能够保持与遥控终端的平滑通信。 构成：安装单元（110）包括形成在主体边界上的多个凹陷区域。 一个或多个中继器（200）安装在安装单元上。 电磁单元（120）用电磁力附接或分离中继器。 当与遥控装置的通信灵敏度降低时，控制单元将电磁力施加到电磁体单元。 控制单元将安装在安装单元上的转发器卸下到地面。 控制单元通过对应的中继器与遥控装置进行通信。

公开(公告)号：KR101170914B1

公开(公告)日：2012-08-06

申请号：KR1020110106656

申请日：2011-10-18

Applicant: 국방과학연구소

Inventor： 이상훈 ,  허진욱 ,  강신천 ,  지태영

IPC: B25J13/08 ,  G05D1/08 ,  B25J9/16

Abstract: PURPOSE: An autonomous navigation robot and a method for moving the robot on an inclined plane are provided to reduce a delay of a traveling time generated when the robot does not move on the inclined plane. CONSTITUTION: An autonomous navigation robot(10) comprises a pose sensor and a control unit. The pose sensor senses a roll, pitch, and yaw angle value of the robot. When the robot enters an inclined plane(200) from a flat plane(100), the control unit converts a roll axis, pitch axis, and yaw axis coordinate of virtual vectors using the values obtained by the pose sensor. The control unit calculates a steering value, and controls the robot based on the steering value.

Abstract translation: 目的：提供一种自主导航机器人和用于在倾斜平面上移动机器人的方法，以减少机器人在倾斜平面上不移动时产生的行进时间的延迟。 构成：自主导航机器人（10）包括姿态传感器和控制单元。 姿态传感器感测机器人的滚动，俯仰和偏航角度值。 当机器人从平面（100）进入倾斜平面（200）时，控制单元使用由姿态传感器获得的值来转换虚拟向量的滚动轴，俯仰轴和偏航轴坐标。 控制单元计算转向值，并且基于转向值来控制机器人。