公开(公告)号：KR101774147B1

公开(公告)日：2017-09-05

申请号：KR1020160030956

申请日：2016-03-15

Applicant: 성균관대학교산학협력단

Inventor： 조준동 ,  유정두 ,  장민준 ,  김기호 ,  박혜빈 ,  이경영 ,  정현우

IPC: A61F5/058 ,  A61F5/30 ,  A61F7/00 ,  A61N1/36

Abstract: 본발명은손목보호대에관한것으로, 보호대몸체; 온열수단; 저주파발산수단; 탈부착감지수단; 및제어수단; 을포함하여, 사용자가자연스럽게규칙적으로충분한휴식을취하도록유도할수 있고, 사용자손목의통증을완화시키고치료할수 있을뿐만아니라사용자가쉽게휴대할수 있으며, 간편하게사용할수 있는것을특징으로한다.

公开(公告)号：KR101419844B1

公开(公告)日：2014-07-18

申请号：KR1020130019728

申请日：2013-02-25

Applicant: 성균관대학교산학협력단

Inventor： 유관호 ,  김평준 ,  이인남 ,  김기호 ,  안주현 ,  이제용

IPC: A01M7/00 ,  B25J13/08 ,  B25J13/00 ,  A01B71/00

CPC classification number: A01M7/0089 ,  A01B71/00 ,  A01M7/0014 ,  A61L9/14 ,  A61L2209/13 ,  B25J13/087 ,  B25J13/088

Abstract: A skid steering-type remote-controllable unmanned sprayer includes: wheels installed at the both lateral sides; a chemical spray device to spray a chemical through a chemical spray nozzle; and a boom to locate the chemical spray nozzle to spray the chemical to a target. The sprayer may include: a manipulation unit which includes switches for a user to manually or automatically control the driving, posture, and chemical spraying of the skid steering-type remote-controllable unmanned sprayer and generates selection signals according to the manipulation of the switches; a sensor unit which includes sensors for sensing the driving status and speed of the skid steering-type remote-controllable unmanned sprayer and neighboring obstacles and generates sensor signals by the sensors; a control unit which calculates pre-compensation position data, which is not yet compensated, from the sensors, compensates the observation errors included in the pre-compensation position data using the expanded Kalman filter to calculate post-compensation position data, determines the next target position according to the current position determined based on the post-compensation position data, the detected moving object guiding lines, and a certain operation schedule, and generates a wheel control signal for operating the wheels to move to the next target position; and a wheel driving unit which drives the wheels based on the wheel control signal.

Abstract translation: 滑行转向型遥控无人喷雾机包括：安装在两侧的车轮; 化学喷雾装置，用于通过化学喷嘴喷射化学品; 以及将化学喷嘴定位以将化学品喷洒到目标的繁荣。 喷雾器可以包括：操作单元，其包括用于用户手动或自动控制滑行导向型遥控无人喷雾器的驾驶，姿势和化学喷洒的开关，并根据开关的操纵产生选择信号; 传感器单元，其包括用于感测滑行转向型遥控无人喷雾器和相邻障碍物的驾驶状态和速度的传感器，并且由传感器产生传感器信号; 从传感器计算尚未补偿的预补偿位置数据的控制单元使用扩展卡尔曼滤波器补偿包含在预补偿位置数据中的观测误差，以计算补偿后位置数据，确定下一个目标 根据基于补偿后位置数据，检测到的移动物体引导线确定的当前位置和一定的操作调度，生成用于操作车轮以移动到下一个目标位置的车轮控制信号; 以及基于车轮控制信号驱动车轮的车轮驱动单元。