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公开(公告)号：KR1020140076410A
公开(公告)日：2014-06-20
申请号：KR1020120144891
申请日：2012-12-12
Applicant: (주)아티스 , 부산대학교 산학협력단
Abstract: The present invention relates to a side dual folk carriage type automatic carriage vehicle including a driving unit and an electric unit; a guiding unit guiding the driving of the driving unit by being installed on a predetermined position on one side of the driving unit; and first and second carriage units independently installed on the upper surface of the driving unit to be able to vertically move or slide.
Abstract translation: 本发明涉及一种包括驱动单元和电气单元的侧面双民用车型自动车辆车辆; 引导单元，其通过安装在所述驱动单元的一侧上的预定位置上来引导所述驱动单元的驱动; 并且第一和第二滑架单元独立地安装在驱动单元的上表面上以能够垂直移动或滑动。
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公开(公告)号：KR1020140076407A
公开(公告)日：2014-06-20
申请号：KR1020120144888
申请日：2012-12-12
Applicant: (주)아티스 , 부산대학교 산학협력단
IPC: G05D1/02
CPC classification number: G05D1/0261 , G01C21/04 , G01C21/206
Abstract: The present invention relates to an analog magnetic positioning device and a positioning method. The positioning method of a magnetic positioning device to measure a position of a magnet which is coupled to a lower part of an automatic guided vehicle and is laid in a floor includes the steps of: detecting and measuring magnetism of the magnet laid in the floor through magnetic sensors arranged in the magnetic positioning device; searching and selecting the magnetic sensors having the greatest magnetic values measured among the magnetic sensors arranged in the upper end, the lower end, the right side and the left side of the magnetic positioning device; calculating a difference between the horizontal and vertical magnetic intensities through the selected magnetic sensors; calculating a center position by using the positions of the selected magnetic sensors; inputting the calculated difference between the horizontal and vertical magnetic intensities into a fuzzy inference system; and adding the calculated center position value to an output value calculated by the fuzzy inference system, and calculating the position of the magnet.
Abstract translation: 本发明涉及一种模拟磁定位装置及其定位方法。 用于测量耦合到自动导引车辆的下部并放置在地板中的磁体的位置的磁性定位装置的定位方法包括以下步骤：检测和测量铺设在地板中的磁体的磁性，通过 磁传感器布置在磁定位装置中; 搜索并选择在磁性定位装置的上端，下端，右侧和左侧布置的磁传感器中测量的具有最大磁值的磁传感器; 通过所选择的磁传感器计算水平和垂直磁场强度之间的差异; 通过使用所选磁传感器的位置来计算中心位置; 将计算出的水平和垂直磁场强度的差异输入到模糊推理系统中; 并将计算的中心位置值加到由模糊推理系统计算出的输出值，并计算磁体的位置。
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公开(公告)号：KR101226769B1
公开(公告)日：2013-01-28
申请号：KR1020100104089
申请日：2010-10-25
Applicant: 부산대학교 산학협력단
IPC: G06T7/40
Abstract: 본 발명은 특징점들의 중심 비율과 표준 얼굴 템플릿을 이용하여 표준 얼굴의 차이를 계산하는 것에 의해 객관적이고 효과적인 과장을 할 수 있도록 한 특징점을 이용한 얼굴 단순화를 위한 캐리커처 방법에 관한 것으로, 특징점을 이용해 단순화된 사용자의 얼굴에서 특징 영역의 특징점 중심과 각 거리 및 각 비율을 계산하고, 과장 정도를 계산하기 위한 템플릿에서 특징 영역의 특징점 중심과 각 거리 및 각 비율을 계산하는 단계;상기 구해진 비율들을 갖도록 상기 사용자 얼굴의 특징 영역의 특징점들의 중심을 구하는 단계;상기 계산 단계에서 각각 구해진 비율의 차이를 이용해 사용자의 얼굴의 특징점을 이동시켜 과장하는 단계;를 포함한다.
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公开(公告)号：KR101079197B1
公开(公告)日：2011-11-03
申请号：KR1020100026659
申请日：2010-03-25
Applicant: 부산대학교 산학협력단
IPC: G05D1/02
Abstract: 본발명은가상의주행경유점을설정하는방법및 가상주행경로를추적방법을이용하여완전자율주행이가능하도록한 자율주행장치의경로추적방법에관한것으로, 자율주행장치의경로추적에있어서,상기자율주행장치를주행점들상에위치시켜서자율주행장치의위치정보를획득하고작업공간의 x축과 y축을이용하여주행점을설정하는단계;자율주행장치가이동해야할주행경유점을생성하는단계;상기생성된주행경유점을주행하도록주행제어단계;를포함하는것을특징으로한다.
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Patent Agency Ranking
公开(公告)号：KR101340503B1
公开(公告)日：2013-12-12
申请号：KR1020120071058
申请日：2012-06-29
Applicant: 부산대학교 산학협력단
CPC classification number: G05D1/0263 , G05D2201/0216
Abstract: The present invention relates to a bipolar magnetic induction device capable of controlling an automatic guided vehicle (AGV) at intersections and in a work area without an additional mark sensor and measuring a wide area by using the S-pole and the N-pole of magnetic tape attached on the floor to guide the AGV. The present invention includes multiple bipolar magnetic sensors which are installed in an AGV and measures the magnetism of the S-pole and the N-pole of magnetic tape which is attached on the movement path of the AGV and generates S-pole force and N-pole force; an S-pole signal processor and an N-pole signal processor which correspond to each bipolar magnetic sensor and outputs an S-pole magnetic signal and an N-pole magnetic signal measured by each bipolar magnetic sensor as a digital signal; and a driving control unit which controls the driving of the AGV based on the S-pole digital signal and the N-pole digital signal outputted from the S-pole signal processor and the N-pole signal processor.
Abstract translation: 本发明涉及一种能够在没有附加标记传感器的交叉点和工作区域中控制自动导引车辆（AGV）的双极性磁感应装置，并且通过使用S极和磁极的N极来测量广域 磁带附在地板上以引导AGV。 本发明包括安装在AGV中的多个双极性磁传感器，并测量附着在AGV的运动路径上的S极和N极的磁性，并产生S极力和N极， 极力; S极信号处理器和N极信号处理器，对应于每个双极磁传感器，并输出由每个双极型磁传感器测量的S极磁信号和N极磁信号作为数字信号; 以及驱动控制单元，其基于从S极信号处理器和N极信号处理器输出的S极数字信号和N极数字信号来控制AGV的驱动。
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公开(公告)号：KR1020130099672A
公开(公告)日：2013-09-06
申请号：KR1020120021356
申请日：2012-02-29
Applicant: 부산대학교 산학협력단
CPC classification number: G05D1/021 , G01P3/465 , G01P3/50 , G01P15/003 , G05D2201/0216 , G06N5/048
Abstract: PURPOSE: A fuzzy inference system and a method thereof solve the problem of cumulative errors in a gyroscope free inertial navigation system (GFINS) by effectively correcting data of an accelerometer. CONSTITUTION: An autonomous ground vehicle (AGV) linear velocity calculation unit (140) calculates the linear velocity of an AGV by using the rotation speed of a wheel. An accelerometer linear velocity measurement unit (150) measures a linear velocity by using an accelerometer. An encoder linear velocity calculation unit (160) calculates a linear velocity based on an encoder signal. A first linear velocity rate calculation unit (170) calculates the ratio of the AGV linear velocity to the accelerometer linear velocity. A second linear velocity rate calculation unit (180) calculates the ratio of the accelerometer linear velocity to the encoder linear velocity. An accelerometer correction unit (190) corrects the accelerometer linear velocity based on the linear velocity ratios calculated by the first linear velocity rate calculation unit and the second linear velocity ratio calculation unit. [Reference numerals] (140) AGV linear velocity calculation unit; (150) Accelerometer linear velocity measurement unit; (160) Encoder linear velocity calculation unit; (170) First linear velocity rate calculation unit; (180) Second linear velocity rate calculation unit; (190) Accelerometer correction unit
Abstract translation: 目的：一种模糊推理系统及其方法，通过有效校正加速度计的数据，解决了陀螺仪自由惯性导航系统（GFINS）中累积误差的问题。 构成：自主地面车辆（AGV）线速度计算单元（140）通过使用车轮的转速来计算AGV的线速度。 加速度计线性速度测量单元（150）通过使用加速度计测量线速度。 编码器线速度计算单元（160）基于编码器信号计算线速度。 第一线速度计算单元（170）计算AGV线速度与加速度计线速度的比率。 第二线速度计算单元（180）计算加速度计线性速度与编码器线速度的比率。 加速度计校正单元（190）基于由第一线速度速率计算单元和第二线速度比计算单元计算的线速度比来校正加速度计线性速度。 （附图标记）（140）AGV线速度计算单元; （150）加速度计线性速度测量单元; （160）编码器线速度计算单元; （170）第一线速度计算单元; （180）第二线速度计算单元; （190）加速度计校正单元
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公开(公告)号：KR1020110107508A
公开(公告)日：2011-10-04
申请号：KR1020100026659
申请日：2010-03-25
Applicant: 부산대학교 산학협력단
IPC: G05D1/02
CPC classification number: G05D1/0212 , G05D2201/0216
Abstract: 본 발명은 가상의 주행 경유 점을 설정하는 방법 및 가상 주행 경로를 추적 방법을 이용하여 완전 자율주행이 가능하도록 한 자율주행 장치의 경로추적 방법에 관한 것으로, 자율주행 장치의 경로추적에 있어서,상기 자율주행 장치를 주행 점들상에 위치 시켜서 자율주행 장치의 위치정보를 획득하고 작업 공간의 x축과 y축을 이용하여 주행 점을 설정하는 단계;자율주행 장치가 이동해야할 주행 경유 점을 생성하는 단계;상기 생성된 주행 경유 점을 주행하도록 주행 제어 단계;를 포함하는 것을 특징으로 한다.
Abstract translation: 本发明涉及一种设置虚拟行驶路线点的方法和一种自主导航设备的路线跟踪方法，该自主导航设备能够使用虚拟行驶路线通过跟踪方法进行完全自主行驶， 该方法包括将所述自主行走装置在驱动点处获得所述自主设备的位置信息，并使用x轴和工作区的Y轴，设定驱动点;产生运行路线点做一个自行式装置移动; 以及经由所生成的驾驶路线点来驾驶车辆的驾驶控制步骤。
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公开(公告)号：KR101272422B1
公开(公告)日：2013-06-07
申请号：KR1020120021340
申请日：2012-02-29
Applicant: 부산대학교 산학협력단
Abstract: PURPOSE: A location detection device and a method thereof are provided to measure a standard point by rotating a laser scanner and to match the measurement with the absolute coordinates of the standard point, thereby minimizing measuring errors. CONSTITUTION: A location detection device (1) includes a scanner (10) which scans a standard point placed in a vertical or horizontal direction, a memory (50) which stores the absolute coordinates of the standard point scanned in a Cartesian coordinate system, a POI (Point of Interest) generating unit (30) which converts the relative coordinates of the standard point scanned in a polar coordinate system into Cartesian coordinates, and a matching unit (70) which measures the number of points whose distance of a POI is shorter than a certain distance, and sets the average location on an x-axis and a y-axis at an angle where the most number of points are measured as a current location. [Reference numerals] (10) Scanner; (30) POI(Point of Interest) generating unit; (50) Memory; (70) Matching unit
Abstract translation: 目的：提供位置检测装置及其方法，通过旋转激光扫描仪来测量标准点，并使测量与标准点的绝对坐标相匹配，从而最小化测量误差。 构成：位置检测装置（1）包括：扫描器（10），其扫描放置在垂直或水平方向的标准点;存储器（50），其存储在笛卡尔坐标系中扫描的标准点的绝对坐标， POI（兴趣点）生成单元，其将在极坐标系中扫描的标准点的相对坐标转换为笛卡尔坐标;以及匹配单元，其测量POI的距离较短的点数 并且将以最多点数测量的角度的x轴和y轴的平均位置设置为当前位置。 （附图标记）（10）扫描仪; （30）POI（兴趣点）生成单位; （50）记忆; （70）配套单元
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公开(公告)号：KR1020120042402A
公开(公告)日：2012-05-03
申请号：KR1020100104089
申请日：2010-10-25
Applicant: 부산대학교 산학협력단
IPC: G06T7/40
CPC classification number: G06T11/60 , G06K9/00268 , G06K9/6229 , G06T2207/30201
Abstract: PURPOSE: A caricature method for face simplification through a feature point is provided to calculate standard face difference by using a standard face template and center rate of a feature point. CONSTITUTION: Each ratio and a feature point center of a specific area are calculated based on a simplified face(S307). Each distance and ratio are calculated from a template for calculating exaggeration degree(S304-S306). The center of the feature point is obtained in order to have obtained ratios(S310). The feature point of the face of the user is exaggerated by obtained ratio difference(S314).
Abstract translation: 目的：提供通过特征点进行脸部简化的漫画方法，以通过使用标准脸部模板和特征点的中心率来计算标准面部差异。 构成：基于简化的脸部计算特定区域的每个比率和特征点中心（S307）。 每个距离和比例由用于计算夸张度的模板计算（S304-S306）。 获得特征点的中心以获得比率（S310）。 用户面部的特征点被获得的比值差夸大（S314）。
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