-
-
公开(公告)号：KR101439214B1
公开(公告)日：2014-09-12
申请号：KR1020130029682
申请日：2013-03-20
Applicant: 국방과학연구소
Abstract: The present invention relates to a module type portable robot controller which can be commonly used in various types of robots (100) with different functions and performance only through minimum change in each module unit, by including local area network unit for enabling local transmission and reception among components forming a robot controller, and forming a compatible modularization. To this end, the module type portable robot controller comprises a manipulation block (10) which is inputted with control commands of a robot (100) and transmitting them; a display and processing block (20) which receives and displays executed information from the robot (100) and the control commands inputted in the manipulation block (10), and transmits them; a communications block (30) which receives the control commands from the display and processing block (20), transmits them to the robot (100), receives the executed information from the robot (100), and transmits it to the display and processing block (20). In addition, the manipulation block (10), the display and processing block (20), and the communications block (30) include a power supply (17, 27, 37) respectively for independently supplying power and modularizing it.
Abstract translation: 本发明涉及一种模块式便携式机器人控制器，其通过包括用于实现本地发送和接收的局域网单元，可以通过仅通过每个模块单元的最小变化通常用于具有不同功能和性能的各种类型的机器人（100） 在形成机器人控制器的部件中，形成兼容的模块化。 为此，模块型便携式机器人控制器包括输入机器人（100）的控制命令并传送的操纵块（10） 显示和处理块（20），其接收并显示来自所述机器人（100）的执行信息和输入到所述操作块（10）中的控制命令，并将其发送; 从显示器和处理块（20）接收控制命令的通信块（30）将其发送到机器人（100），从机器人（100）接收执行的信息，并将其发送到显示和处理块 （20）。 此外，操作块（10），显示和处理块（20）以及通信块（30）分别包括用于独立地供电和模块化的电源（17,27,37）。
-
3.发明公开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：KR1020130045112A
公开(公告)日：2013-05-03
申请号：KR1020110109584
申请日：2011-10-25
Applicant: 국방과학연구소
Abstract: PURPOSE: A position estimating system of an autonomous vehicle using a CDGPS(Carrier-phase Differential GPS), and an autonomous vehicle comprising the same and a position estimating method of the same are provided to collect position information of the autonomous vehicle during delay time or cut-out time. CONSTITUTION: A carrier phase correction GPS(Global Positioning System) part(110) is formed to grasp current position through communication with a base station. A GPS part(120) is formed to grasp the current position by receiving a signal from a GPS satellite. A reception conversion part(130) monitors a first signal outputted from the CDGPS part, and is converted to receive a second signal outputted from the GPS part when the first signal is cut out. A position estimation part estimates the current position of an autonomous vehicle on the basis of the first signal or the second signal. [Reference numerals] (130) Conversion part; (140) Location estimation part; (150) Time delay detection part; (170) Integration part
Abstract translation: 目的：提供使用CDGPS（载波相位差分GPS）的自主车辆的位置估计系统，以及包括该自主车辆的自主车辆和位置估计方法，以在延迟时间内收集自主车辆的位置信息，或 切出时间 构成：通过与基站通信来形成载波相位校正GPS（全球定位系统）部分（110）以掌握当前位置。 通过接收来自GPS卫星的信号，形成GPS部件（120）以掌握当前位置。 接收转换部分（130）监视从CDGPS部分输出的第一信号，并且当第一信号被切断时被转换成接收从GPS部分输出的第二信号。 位置估计部基于第一信号或第二信号来估计自主车辆的当前位置。 （附图标记）（130）转换部; （140）位置估计部分; （150）延时检测部分; （170）集成部分
-
公开(公告)号：KR101207903B1
公开(公告)日：2012-12-04
申请号：KR1020100098592
申请日：2010-10-11
Applicant: 국방과학연구소
CPC classification number: G01S13/865 , B60W30/16 , G05D1/0248 , G05D11/006
Abstract: 본발명은차량주행경로상의장애물의종류를파악하여차량의자율주행이가능하도록하는자율이동차량용장애물정보제공방법에관한것으로서, 자율이동차량의 360°범위를탐지할수 있는가상의거리센서를생성하는단계와, 레이저거리센서와레이다로부터각도별거리데이터들을수신하는단계와, 상기레이저거리센서로부터수신한상기각도별거리데이터들을상기가상의거리센서를기준으로하는데이터로변환하는단계와, 상기가상의거리센서의데이터를상기레이다로부터수신한각도별데이터로초기화하는단계와, 모든각도에대하여, 상기변환된각도별거리데이터와상기가상의거리센서에초기화된각도별거리데이터를비교하여피검출대상물의존재여부를판단함과아울러, 상기피검출대상물이존재한다고판단될경우가상의거리센서에초기화된거리데이터를저장하고, 상기피검출대상물이존재하지않는다고판단될경우가상의거리센서데이터로변환된거리데이터를저장하는단계와, 상기저장된각도별거리데이터들을상기자율이동차량의충돌회피부에송신하는단계를포함하여구성된다. 본발명에따른자율이동차량용장애물정보제공방법을이용하면, 먼지등의이동유닛이통과할수 있는장애물에대해서도통과할수 없는장애물로오인하는문제를해결할수 있다.
-
-
Patent Agency Ranking
公开(公告)号：KR101400267B1
公开(公告)日：2014-07-21
申请号：KR1020130027097
申请日：2013-03-14
Applicant: 국방과학연구소
Abstract: An unmanned ground vehicle of the present invention includes a reference velocity generating block (30) for determining a slope, a first factor generating block (40) for determining a curvature, and a second factor block (50) for determining a stopping distance, and receives a final velocity (Vel), as a velocity command every moment, calculated by a fusion processing block (60) to which the results of processing of the other blocks, all the slope (sl), curvature (k), and stopping distance (sd), are inputted, thereby ensuring safety against risk factors during off-road driving.
Abstract translation: 本发明的无人地面车辆包括用于确定斜率的基准速度产生块（30），用于确定曲率的第一因子生成块（40）和用于确定停止距离的第二因子块（50），以及 通过由其他块的处理结果，所有斜率（sl），曲率（k）和停止距离（60）的融合处理块（60）来计算作为每一时刻的速度指令的最终速度（Vel） （sd），从而确保在越野驾驶期间对危险因素的安全性。
-
公开(公告)号：KR101273245B1
公开(公告)日：2013-06-11
申请号：KR1020130020496
申请日：2013-02-26
Applicant: 국방과학연구소
IPC: G05D1/02
CPC classification number: G05D1/0257 , G05D1/0212
Abstract: PURPOSE: An autonomous driving system for an autonomous vehicle and a drivable route generating method using the same are provided to reduce a load of a CPU in an SBC(Single Board Computer) and autonomously drive a vehicle on a paved road, an unpaved road, and plains at high speed by reducing calculation amounts. CONSTITUTION: An autonomous driving system includes a multi-scan radar(110), a calculation unit(120), and an autonomous driving processing device(130). The multi-scan radar collects distance data from a target point by irradiating a laser in first and second routes with different orientation angles from a horizontal plane. The calculation unit determines a drivable region by calculating the slope of the target point based on the orientation angles and the distance data and calculates a drivable route from boundary values of the drivable region. The autonomous driving processing device controls the autonomous movement of the vehicle based on the drivable route. [Reference numerals] (110) Multi-scan radar; (121) Distance data receiving unit; (122) First processing unit(driving area extraction); (123) Second processing unit(drivable path point calculation); (124) Transmitting unit(virtual 2D laser radar data); (130) Autonomous driving processing device
Abstract translation: 目的：提供一种用于自主车辆的自主驾驶系统和使用该自动车辆的可驱动路线生成方法，以减少SBC（单板计算机）中的CPU的负载，并且自动驾驶铺设的道路，未铺设道路上的车辆， 并通过减少计算量高速平原。 构成：自主驾驶系统包括多扫描雷达（110），计算单元（120）和自主驾驶处理装置（130）。 多扫描雷达通过从水平面以不同取向角的第一和第二路径照射激光，从目标点收集距离数据。 计算单元通过基于取向角度和距离数据计算目标点的斜率来确定可驱动区域，并从可驱动区域的边界值计算可驱动路线。 自主驾驶处理装置基于可驱动的路线来控制车辆的自主运动。 （附图标记）（110）多扫描雷达; （121）距离数据接收单元; （122）第一处理单元（驾驶区域提取）; （123）第二处理单元（可驱动路径点计算）; （124）发射单元（虚拟2D激光雷达数据）; （130）自动驾驶处理装置
-
公开(公告)号：KR1020120037065A
公开(公告)日：2012-04-19
申请号：KR1020100098592
申请日：2010-10-11
Applicant: 국방과학연구소
CPC classification number: G01S13/865 , B60W30/16 , G05D1/0248 , G05D11/006
Abstract: PURPOSE: An apparatus and a method for providing obstacle information for an autonomous mobile vehicle are provided to support the autonomous movement of the vehicle by verifying the kinds of obstacles on the driving path of the vehicle. CONSTITUTION: A laser distance sensor(211) detects obstacles located at the front side of an autonomous mobile vehicle by being installed at the front center of the vehicle. A sensor driving unit(213) drives the laser distance sensor at high angles. A controller(212) controls the driving of the sensor driving unit. A plurality of radars(220) detects the obstacles by being installed at the front lower side of the vehicle. An operating unit(230) implements data processing by being installed in the vehicle.
Abstract translation: 目的：提供一种用于为自主移动车辆提供障碍物信息的装置和方法，以通过验证车辆行驶路径上的障碍物的种类来支持车辆的自主运动。 构成：激光距离传感器（211）通过安装在车辆的前方中心来检测位于自主移动车辆前方的障碍物。 传感器驱动单元（213）以高角度驱动激光距离传感器。 控制器（212）控制传感器驱动单元的驱动。 多个雷达（220）通过安装在车辆的前下侧来检测障碍物。 操作单元（230）通过安装在车辆中实现数据处理。
-
公开(公告)号：KR101679653B1
公开(公告)日：2016-12-06
申请号：KR1020140194836
申请日：2014-12-31
Applicant: 국방과학연구소
IPC: G05D1/02
Abstract: 본발명의무인차량에는주행하는경로의자신위치와두 개의경로점으로원을생성하는원 생성부(10), 생성된원의궤적을추종하기위한헤딩명령이생성되는헤딩명령생성부(20), 생성된헤딩명령에감쇠계수()와고유진동수()을적용해필터링하는필터링부(30)가포함된헤딩명령생성장치(1-1)를탑재함으로써불확실성을내재한센서가이용되더라도제공된경로점세트의불확실성이극복되는특징을갖는다.
Abstract translation: 本发明提供一种用于生成用于无人驾驶车辆的自主导航的航向指令的方法及其装置，以克服所提供的航点设定的不确定性，即使使用具有不确定性的传感器。 无人驾驶车辆包括：通过导航路线上的车辆位置产生圆的圆生成单元（10）和两个航路点; 标题命令生成单元（20），生成用于跟踪所生成的圆的轨迹的标题命令; 以及通过对所生成的航向命令应用衰减系数和唯一的振动频率来执行滤波的滤波单元（30）。 因此，即使使用具有不确定性的传感器，消除了提供的航点集的不确定性。
-
公开(公告)号：KR101196298B1
公开(公告)日：2012-11-06
申请号：KR1020110119244
申请日：2011-11-16
Applicant: 국방과학연구소
Abstract: PURPOSE: A high speed track merging method is provided to perform high speed clustering through a nearest measured value among measured values which is entered in a validation gate. CONSTITUTION: A unique number is given to detection information obtained from a sensor and a validation gate of each track is calculated(S310). A unique number of nearest detection information among detection information which is entered in the validation gate of each track is added to information property of each track(S320). Tracks in which the unique number of the nearest detection information is same are clustered from information property of each track(S330). Distance between the tracks which are clustered based on a selected track is calculated(S350). Track merging is performed(S360). [Reference numerals] (S310) A unique number is given; (S320) The nearest unique number is added; (S330) Track clustering; (S340) A track in which a determinant of covariance is the smallest is established; (S350) The distance between tracks is calculated; (S360) Track merging
Abstract translation: 目的：提供高速跟踪合并方法，通过在验证门中输入的测量值之间的最近测量值来执行高速聚类。 构成：对从传感器获得的检测信息给出唯一的编号，并计算每个轨道的验证门（S310）。 在每个轨道的验证门中输入的检测信息中唯一数量最近的检测信息被添加到每个轨道的信息属性（S320）。 其中最近的检测信息的唯一数量相同的跟踪是从每个轨道的信息属性聚集的（S330）。 计算基于所选轨道聚集的轨道之间的距离（S350）。 执行跟踪合并（S360）。 [参考号]（S310）给出唯一的号码; （S320）添加最近的唯一编号; （S330）跟踪聚类; （S340）建立其中协方差的行列式最小的轨道; （S350）计算轨道之间的距离; （S360）跟踪合并
-
-
-
-
-
-
-
-
-
Search Results
20
records
(took 0.018 seconds)
