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1.发明授权
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
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。
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公开(公告)号：KR101764482B1
公开(公告)日：2017-08-03
申请号：KR1020150071980
申请日：2015-05-22
Applicant: 성균관대학교산학협력단
Abstract: 본발명의실시예들에따른레이저간섭계에기반한지진계장치는하나의이동물체의이동거리를서로상보적으로측정하도록배치된제1 및제2 헤테로다인레이저간섭계들로부터기준신호강도및 측정신호강도를각각입력받고, 측정신호강도의 AC 성분과기준신호강도로부터, 위상차만의삼각함수로표현되는강도신호들을각각도출하는전처리부, 제1 및제2 헤테로다인레이저간섭계들의상보적인관계를이용하여, 제1 및제2 헤테로다인레이저간섭계들각각의강도신호들의오차를보정하고, 보정된강도신호들을생성하는오차보정부, 보정된강도신호들의주파수값의시간에따른변동을분석하여, 주파수값의시간에따른단기평균과장기평균의비율의변동을산출하는지진파주파수분석부및 시간에따른단기평균과장기평균의비율(STA/LTA)이소정임계값을상향돌파하는상향돌파시점들을결정하고, 상향돌파시점들의시간차이에따라진앙거리를산출하는진앙거리산출부를포함할수 있다.
Abstract translation: 基于根据激光干涉仪与本发明的实施例中地震检波器装置，所述参考信号强度和从各布置成测量互补第一mitje第二外差激光干涉仪的彼此测量的信号强度，移动物体的移动距离， 接收，通过使用预处理单元的互补关系，即从AC分量导出与所测量的信号强度的参考信号强度，分别由三角函数表示仅相的强度信号，第一mitje第一mitje第二外差激光干涉仪 第二外差激光干涉仪在与校正各强度信号的错误，错误校正，以产生校正后的强度信号，通过与所述频率值的时间分析中的信号时间的校正强度，短期的频率值的变化 均值和地震剖面的频率分析的平均短期和长期平均速率和分手yisojeong阈向上中断期间计算的长期平均（STA / LTA）的变化率的时间 确定，并且上游断点yiettara震中距离计算的时间差来计算震中可包含部分的距离。
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公开(公告)号：KR1020070117937A
公开(公告)日：2007-12-13
申请号：KR1020060052190
申请日：2006-06-09
Applicant: 성균관대학교산학협력단
Abstract: A system for measuring displacement amount and a method for correcting the error in a laser interferometer using a capacitance sensor are provided to improve accuracy in measuring displacement of the laser interferometer by calculating average value. A system for measuring displacement amount in a laser interferometer using a capacitance sensor comprises a detecting unit, a measuring unit, a first stage(150), a second stage(140), and a computer(200). The laser interferometer measures displacement of a target. The detecting unit measures displacement of the target from the laser interferometer. The measuring unit converts distance measured by the detecting unit into a numerical value. The first stage reciprocates on one axis to measure millimeter displacement. The second stage is mounted on the first stage and reciprocates on one axis to measure nanometer and micrometer displacement. The computer calculates displacement value on the basis of a measured value of the laser interferometer obtained by the measuring unit and a value measured on the second stage.
Abstract translation: 提供一种用于测量位移量的系统和使用电容传感器校正激光干涉仪中的误差的方法，以通过计算平均值来提高测量激光干涉仪位移的精度。 使用电容传感器测量激光干涉仪中的位移量的系统包括检测单元，测量单元，第一级（150），第二级（140）和计算机（200）。 激光干涉仪测量目标的位移。 检测单元测量目标与激光干涉仪的位移。 测量单元将由检测单元测量的距离转换为数值。 第一阶段在一个轴上往复运动以测量毫米位移。 第二阶段安装在第一阶段，并在一个轴上往复运动以测量纳米和千分尺位移。 计算机基于由测量单元获得的激光干涉仪的测量值和在第二阶段测量的值来计算位移值。
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公开(公告)号：KR100736229B1
公开(公告)日：2007-07-06
申请号：KR1020060035644
申请日：2006-04-20
Applicant: 성균관대학교산학협력단
IPC: G01B9/02
Abstract: A system for compensating error of laser interferometer and a method thereof are provided to measure displacement similar to resolution of a corresponding interferometer without an expensive measuring circumstance. A system for compensating error of laser interferometer includes an interferometer(50) using a single path heterodyne laser(51), a measuring unit(60) to measure a displacement using the interferometer, and a correcting unit(70) to correct an error of the measurement measured by the measuring unit using double Kalman filter algorithm. The correcting unit models measurement noise due to environmental error and reduces the measurement noise to increase measuring precision. The interferometer includes a laser to output a laser beam with a first frequency(f1) and a second frequency(f2), a beam splitter(52) installed on an optical path of the laser to split the first frequency and the second frequency, a first quarter plate installed on an optical path of the first frequency, a movable mirror(54) installed in a driving unit, a second quarter plate(55) installed on an optical path of the second frequency, and a fixed mirror(56) fixed on the optical path of the second frequency.
Abstract translation: 提供了一种用于补偿激光干涉仪误差的系统及其方法，以测量与相应干涉仪的分辨率相似的位移，而无需昂贵的测量环境。 用于补偿激光干涉仪误差的系统包括使用单路外差激光器（51）的干涉仪（50），使用干涉仪测量位移的测量单元（60），以及校正单元（70） 由测量单元使用双卡尔曼滤波器算法测量的测量。 校正单元模拟由于环境误差引起的测量噪声，并降低测量噪声以提高测量精度。 干涉仪包括：激光器，用于输出具有第一频率（f1）和第二频率（f2）的激光束;分光器（52），其安装在激光器的光路上以分裂第一频率和第二频率; 在安装在第一频率的光路上的第一四分之一板，安装在驱动单元中的可移动反射镜（54），安装在第二频率的光路上的第二四分之一板（55）以及固定的反射镜（56） 在第二频率的光路上。
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公开(公告)号：KR1020110024399A
公开(公告)日：2011-03-09
申请号：KR1020090082385
申请日：2009-09-02
Applicant: 성균관대학교산학협력단
Abstract: PURPOSE: A laser interferometer compensating apparatus using an extended kalman filter is provided to enable high-precision measurement by removing frequency mixing and errors resulting from the frequency mixing in a heterodyne laser interferometer for nano-scale measurement. CONSTITUTION: A laser interferometer compensating apparatus comprises an Ir operation unit(210), an Im operation unit(220), a pre-preprocessing unit(230), a database(260), and an extended kalmam filter(240). The Ir operation unit creates a reference signal from the signal inputted from a heterodyne laser interferometer. The Im operation unit creates a measurement signal from the signal inputted from the heterodyne laser interferometer. The pre-processing unit receives the reference signal and the measurement signal and outputs a signal including phase information. The database stores noise dispersion information of the extended kalmam filter. The extended kalmam filter corrects an error using the noise dispersion information of the database and information on the moving speed of a target object in the heterodyne laser interferometer.
Abstract translation: 目的：提供一种使用扩展卡尔曼滤波器的激光干涉仪补偿装置，通过去除频率混合和由外差激光干涉仪进行纳米级测量的频率混合导致的误差，实现高精度测量。 构成：激光干涉仪补偿装置包括Ir操作单元（210），Im操作单元（220），预预处理单元（230），数据库（260）和扩展卡尔姆姆过滤器（240）。 Ir操作单元根据从外差激光干涉仪输入的信号产生参考信号。 Im操作单元根据从外差激光干涉仪输入的信号产生测量信号。 预处理单元接收参考信号和测量信号，并输出包括相位信息的信号。 数据库存储扩展卡拉姆滤波器的噪声色散信息。 扩展卡尔曼滤波器使用数据库的噪声色散信息和外差激光干涉仪中目标对象的移动速度的信息来校正误差。
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Patent Agency Ranking
公开(公告)号：KR100736231B1
公开(公告)日：2007-07-06
申请号：KR1020060035645
申请日：2006-04-20
Applicant: 성균관대학교산학협력단
Abstract: A system for compensating laser interferometer and a method thereof are provided to estimate an optimal correction parameter using position information of a static capacity sensor and position information of a heterodyne laser interferometer. A system for compensating laser interferometer includes a measuring unit(10) to measure a displacement of a target, a preprocessing unit(20) to pre-process an output signal of the measuring unit, a correcting unit(30) to set a correction parameter to correct the measurement of the target processed by the preprocessing unit, and a mapper(40) to correct and output the measurement pre-processed by the preprocessing unit using the correction parameter set by the correcting unit. The correction value outputted by the mapper is outputted through an output unit(50). The measuring unit includes a heterodyne laser system(11) having two different frequencies and using two light sources orthogonally polarized with each other and a static sensor(12) to precisely measure a position with few nanometer unit precision. The heterodyne laser system has a performance of representing the position information of the target as an intensity of a signal.
Abstract translation: 提供了一种用于补偿激光干涉仪的系统及其方法，以使用静态电容传感器的位置信息和外差激光干涉仪的位置信息来估计最佳校正参数。 用于补偿激光干涉仪的系统包括：测量单元（10），用于测量目标的位移;预处理单元（20），用于预处理测量单元的输出信号;校正单元（30），用于设置校正参数 以校正由预处理单元处理的目标的测量;以及映射器（40），使用由校正单元设置的校正参数校正并输出由预处理单元预处理的测量。 由映射器输出的校正值通过输出单元（50）输出。 测量单元包括具有两个不同频率并使用彼此正交偏振的两个光源的外差激光系统（11）和静态传感器（12）以精确测量具有几纳米单位精度的位置。 外差激光系统具有将目标的位置信息表示为信号强度的性能。
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公开(公告)号：KR1020160137844A
公开(公告)日：2016-12-01
申请号：KR1020150071980
申请日：2015-05-22
Applicant: 성균관대학교산학협력단
Abstract: 본발명의실시예들에따른레이저간섭계에기반한지진계장치는하나의이동물체의이동거리를서로상보적으로측정하도록배치된제1 및제2 헤테로다인레이저간섭계들로부터기준신호강도및 측정신호강도를각각입력받고, 측정신호강도의 AC 성분과기준신호강도로부터, 위상차만의삼각함수로표현되는강도신호들을각각도출하는전처리부, 제1 및제2 헤테로다인레이저간섭계들의상보적인관계를이용하여, 제1 및제2 헤테로다인레이저간섭계들각각의강도신호들의오차를보정하고, 보정된강도신호들을생성하는오차보정부, 보정된강도신호들의주파수값의시간에따른변동을분석하여, 주파수값의시간에따른단기평균과장기평균의비율의변동을산출하는지진파주파수분석부및 시간에따른단기평균과장기평균의비율(STA/LTA)이소정임계값을상향돌파하는상향돌파시점들을결정하고, 상향돌파시점들의시간차이에따라진앙거리를산출하는진앙거리산출부를포함할수 있다.
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公开(公告)号：KR1020100077861A
公开(公告)日：2010-07-08
申请号：KR1020080135928
申请日：2008-12-29
Applicant: 성균관대학교산학협력단
Abstract: PURPOSE: Error correction device and method of a heterodyne laser interferometer are provided to correct errors to adapt to the environment change by performing an error correction operation suitable for a new environment. CONSTITUTION: An error correction device of a heterodyne laser interferometer comprises a capacitance sensor(270), a pre-processing unit(240), a WLS processing unit(250), an error correction unit(280) and a CD data processing unit(260). The capacitance sensor measures the distance to an object. The pre-processing unit receives a reference signal and a measurement signal from the heterodyne laser interferometer(100) to measure the intensity. The WLS processing unit applies the measured intensity of the measurement signal and the reference signal to a WLS technique to obtain a WLS compensation parameter. The error correction unit applies the measured intensity of the measurement signal and the reference signal to the WLS compensation parameter to correct errors. Using the distance to the object output from the capacitance sensor, the CD data processing unit computes and outputs the intensity of a corresponding basic signal. The pre-processing unit comprises a phase retarder and a multiplier and a filter.
Abstract translation: 目的：通过执行适合新环境的纠错操作，提供外差激光干涉仪的纠错装置和方法，以纠正错误以适应环境变化。 构成：外差激光干涉仪的纠错装置包括电容传感器（270），预处理单元（240），WLS处理单元（250），纠错单元（280）和CD数据处理单元 260）。 电容传感器测量到物体的距离。 预处理单元接收来自外差激光干涉仪（100）的参考信号和测量信号以测量强度。 WLS处理单元将测量信号和参考信号的测量强度应用于WLS技术以获得WLS补偿参数。 误差校正单元将测量信号和参考信号的测量强度应用于WLS补偿参数以校正误差。 使用从电容传感器输出的对象的距离，CD数据处理单元计算并输出对应的基本信号的强度。 预处理单元包括相位延迟器和乘法器和滤波器。
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公开(公告)号：KR100938108B1
公开(公告)日：2010-01-21
申请号：KR1020070085933
申请日：2007-08-27
Applicant: 성균관대학교산학협력단
Abstract: 본 발명은 헤테로다인 레이저 간섭계의 보정시스템 및 출력보정방법에 관한 것이다. 본 발명에 따른 보정시스템은 측정 대상물에 대한 위치를 측정하여 측정값을 출력하는 헤테로다인 레이저 간섭계와; 상기 측정 대상물의 위치를 측정하여 제2 측정값을 출력하는 정전용량센서와; 상기 측정값 및 상기 제2 측정값을 이용하여 반복 최소 자승법을 통해 상기 측정값을 제1 보정값으로 보정하는 제1 보정부와; 상기 제1 보정값 및 상기 제2 측정값을 각각 입력값 및 목표값으로 하여 신경망 회로를 생성하고, 상기 제1 보정값을 상기 신경망 회로의 입력으로 하여 제2 보정값을 생성하는 제2 보정부와; 상기 제2 보정부로부터 출력되는 상기 제2 보정값에 기초하여 상기 측정값에 대한 보정 측정값을 생성하는 보정값 출력부를 포함하는 것을 특징으로 한다. 이에 따라, 정전용량센서로부터의 출력을 기본신호로 하여 반복 최소 자승법을 이용하여 헤테로다인 레이저 간섭계의 출력이 갖는 비선형성을 보정하고, 소음, 외란, 진동 등과 같은 불특정 요소에서 오는 환경적 오차를 신경망 회로를 이용하여 보정함으로써, 헤테로다인 레이저 간섭계의 출력의 정밀도를 향상시켜 선형성 및 환경적 요소에 적응적인 시스템의 구현이 가능하게 된다.
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公开(公告)号：KR1020090019598A
公开(公告)日：2009-02-25
申请号：KR1020070084148
申请日：2007-08-21
Applicant: 성균관대학교산학협력단
IPC: G05D3/12
Abstract: An optimal control method based on the sliding mode control applied to the ultra-precision positioning system is provided to minimized the rising time, to remarkably reduce the phenomenon at the target position and to be strong in non-linearity by the external noise. The system model about the ultra-precision positioning system is determined by reflecting The LQ control algorithm and the state observation algorithm. The general solution of the state removing the noise element from the system model is produced. The sliding surface according to the sliding mode control algorithm about the system model based on the general solution is determined. The feedback gain applied to the sliding surface through the LQ control algorithm is produced. The sliding mode controller is set by applying the sliding surface and the feedback gain to the sliding mode control algorithm.
Abstract translation: 提供了基于应用于超精密定位系统的滑模控制的最优控制方法，以最小化上升时间，显着降低目标位置的现象，并通过外部噪声非线性强。 关于超精密定位系统的系统模型通过反映LQ控制算法和状态观测算法来确定。 产生从系统模型中去除噪声元件的状态的一般解决方案。 根据滑动模式控制算法，根据一般解决方案确定系统模型的滑动面。 产生通过LQ控制算法施加到滑动面的反馈增益。 滑动模式控制器通过将滑动面和反馈增益应用于滑动模式控制算法来设定。
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