公开(公告)号：KR1020130022918A

公开(公告)日：2013-03-07

申请号：KR1020110085958

申请日：2011-08-26

Applicant: 전북대학교산학협력단 ,  (주)센소프트

Inventor： 김형석 ,  김성우 ,  양창주 ,  진홍신

IPC: A47L9/28 ,  G05D1/02 ,  B25J13/08

CPC classification number: A47L9/2805 ,  A47L2201/04

Abstract: PURPOSE: A self-control movement method of a cleaning robot using repetitive image patterns around a workplace is provided to predict location information using a sum vector in which an optical flow is accumulated in a video frame. CONSTITUTION: A self-control movement method of a cleaning robot using repetitive image patterns around a workplace comprises; a step of receiving repetitive image patterns by installing a camera to the direction of the repetitive image around a workplace at the center of the cleaning robot and a step of calculating the angle with respect to a Y axis from a standard starting point of the cleaning robot at the workplace and set of angles. [Reference numerals] (AA) Initializing a robot imaging device; (BB) Processing a ceiling image with repetitive patterns; (CC) Straight lines are extracted?; (DD) Calculating the direction of a robot; (EE) Calculating the direction using an optical flow; (FF) Crossing point of the straight lines is extracted?; (GG) Calculating the position of the robot; (HH) Calculating the position using an optical flow; (II) Using the position/direction

Abstract translation: 目的：提供使用工作场所周围的重复图像图案的清洁机器人的自我控制运动方法，以使用在视频帧中积累光流的和矢量来预测位置信息。 构成：在工作场所周围使用重复图像模式的清洁机器人的自我控制运动方法包括： 通过将相机安装在清洁机器人的中心的工作场所周围的重复图像的方向上来接收重复图像图案的步骤，以及从清洁机器人的标准起点计算相对于Y轴的角度的步骤 在工作场所和一套角度。 （附图标记）（AA）初始化机器人成像装置; （BB）用重复图案处理天花板图像; （CC）提取直线？ （DD）计算机器人的方向; （EE）使用光流计算方向; （FF）提取直线的交叉点？ （GG）计算机器人的位置; （HH）使用光流计算位置; （II）使用位置/方向

公开(公告)号：KR1020120126308A

公开(公告)日：2012-11-21

申请号：KR1020110044004

申请日：2011-05-11

Applicant: 전북대학교산학협력단

Inventor： 김성우 ,  양창주 ,  김형석

IPC: H01L31/054

CPC classification number: Y02E10/50 ,  H01L31/054

Abstract: PURPOSE: A method for utilizing concentrating solar energy is provided to prevent efficient reduction of a solar cell by eliminating thermal energy from the solar cell and to prevent life shortening of the solar cell due to heat. CONSTITUTION: Pieces(1100) of glass refract light. A minute prism is considerably refracted. Rays(1200) of short wavelength are gathered inside glass prisms of a saw blade shape. Waves(1300) of long wavelength are gathered in the edge of the glass prisms of the saw blade shape. The pieces of glass gather light at one point while performing a prism.

Abstract translation: 目的：提供一种利用集中太阳能的方法，以通过消除太阳能电池的热能来防止太阳能电池的有效降低，并防止太阳能电池由于热而引起的寿命缩短。 构成：玻璃折射灯（1100）。 微小的棱镜被大量折射。 短波长的光线（1200）聚集在锯片形状的玻璃棱镜内。 长波长的波长（1300）聚集在锯片形状的玻璃棱镜的边缘。 在执行棱镜时，玻璃片在一点聚光。