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公开(公告)号：KR1020140108821A
公开(公告)日：2014-09-15
申请号：KR1020130022466
申请日：2013-02-28
CPC classification number: G05D1/021 , G05D1/0272
Abstract: The present invention relates to a mobile robot and a method for localizing and mapping the position of a mobile robot. The present invention is to highly enhance a position error in localizing and mapping the position of a mobile robot by correcting the cumulative error of relative coordinates using multiple vector field sensors. The method for localizing and mapping the position of a mobile robot according to the present invention comprises obtaining the relative coordinates within a moving space using an encoder; obtaining an absolute coordinate within the moving space through at least one among the strength and direction of a signal using the multiple vector field sensors; defining multiple arbitrary cells on the surface of the moving space and defining the multiple cells having multiple nodes at predetermined positions; and performing the localization and mapping within the moving space while updating the position information of the multiple nodes of one or more cells using the relative coordinates obtained by the encoder and the multiple vector field sensors, and determining the position information of a previous node while localizing the position information of a new node during movement.
Abstract translation: 移动机器人技术领域本发明涉及移动机器人和用于对移动机器人的位置进行定位和映射的方法。 本发明是通过使用多个矢量场传感器校正相对坐标的累积误差来高度增强移动机器人位置的定位和映射的位置误差。 根据本发明的用于定位和映射移动机器人的位置的方法包括使用编码器获得移动空间内的相对坐标; 通过使用多个矢量场传感器的信号的强度和方向中的至少一个来获得移动空间内的绝对坐标; 在移动空间的表面上定义多个任意小区，并在预定位置定义具有多个节点的多个小区; 并且使用由编码器和多个矢量场传感器获得的相对坐标来更新一个或多个单元的多个节点的位置信息，并且在移动空间内执行定位和映射，并且在定位时确定先前节点的位置信息 运动过程中新节点的位置信息。
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公开(公告)号：KR100397844B1
公开(公告)日：2003-09-13
申请号：KR1020000079071
申请日：2000-12-20
Applicant: 한국과학기술원
IPC: A47L9/00
Abstract: PURPOSE: A cleaning robot using a remote controller is provided to enhance cleaning efficiency of the robot by allowing the cleaning robot to perform a cleaning operation by remote controlling by radio and to be moved while sensing obstacles. CONSTITUTION: A cleaning robot comprises a housing(20), a cleaning unit, a driver, a sensor, a signal receiving portion(60), a remote controller(70), a power supplying portion and a central control unit. A handle(10) is attached to a central portion of an upper end of the housing(20). The cleaning unit is mounted on the housing(20) for absorbing and storing ambient dust and the like. The driver is mounted on the housing(20) for moving and rotating the cleaning unit. The sensor is mounted on the housing(20) for sensing obstacles. The signal receiving portion(60) is mounted on the housing(20). The remote controller(70) transmits a signal to the signal receiving portion(60) for calling a desired behavior of the robot by radio. The power supplying portion supplies electric power to the driver. The central control unit controls the cleaning unit and the driver, decides sensing signals from the sensor, and receives and processes signals from the signal receiving portion(60).
Abstract translation: 目的：提供一种使用遥控器的清洁机器人，其通过允许清洁机器人通过无线电进行远程控制来执行清洁操作并且在感测障碍物时移动来提高机器人的清洁效率。 一种清洁机器人，包括壳体（20），清洁单元，驱动器，传感器，信号接收部分（60），遥控器（70），电源部分和中央控制单元。 把手（10）连接到壳体（20）的上端的中央部分。 清洁单元安装在壳体（20）上以吸收和存储环境灰尘等。 驱动器安装在壳体（20）上用于移动和旋转清洁单元。 传感器安装在壳体（20）上以感测障碍物。 信号接收部分（60）安装在壳体（20）上。 遥控器（70）向信号接收部分（60）发送信号以通过无线电呼叫机器人的期望行为。 供电部分向驾驶员供应电力。 中央控制单元控制清洁单元和驱动器，确定来自传感器的感测信号，并接收和处理来自信号接收部分（60）的信号。
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公开(公告)号：KR1020010084466A
公开(公告)日：2001-09-06
申请号：KR1020000009517
申请日：2000-02-25
Applicant: 한국과학기술원
IPC: A63F7/06
CPC classification number: A63F7/0616 , A63F2009/2407 , A63F2009/2451 , A63H30/04 , A63H33/007 , G07F17/3244
Abstract: PURPOSE: A method for playing a robot soccer game is provided, to allow a gamer to control robots directly during the game. CONSTITUTION: The method comprises the steps of inserting a coin; selecting the degree of difficulty of a game; lining robots in initial position automatically; placing a ball in the center of a soccer field; announcing the start of a game in an electrical score board; controlling the robots of my team whereas the robots of opposite team is controlled automatically; advancing the score of an electrical score board when a robot makes a goal and placing a ball in the center of a soccer field when the time is stopped; determining the winner and the defeated when the game is over; and putting a ball the robots into the four rooms placed beside of the goal post of my team automatically. The game can be played by two persons in different place by controlling robots in different soccer field through Internet.
Abstract translation: 目的：提供一种玩机器人足球比赛的方法，让游戏者可以直接在游戏过程中控制机器人。 构成：该方法包括插入硬币的步骤; 选择游戏的难度; 自动将机器人初始化; 将球放在足球场的中心; 宣布在电子记分板上开始一场比赛; 控制我的团队的机器人，而自动控制对方的机器人; 当机器人停止时，提高电子记分板的分数，并将球放在足球场的中心; 确定胜者并在游戏结束时被击败; 并将机器人放在放置在我队的目标位置旁边的四个房间中。 游戏可以通过互联网在不同的足球场中控制机器人，在不同的地方由两个人玩。
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公开(公告)号：KR1020000074678A
公开(公告)日：2000-12-15
申请号：KR1019990018786
申请日：1999-05-25
Applicant: 한국과학기술원
IPC: G01C21/00
Abstract: PURPOSE: A map matching method for a vehicle navigation system using Q-factor based on a study circuit network is provided to precisely carry out map matching for any roads by finding optimum parameter combination and easily adapting for changes of roads by using a study capability of the study circuit network. CONSTITUTION: In a map matching method for a vehicle navigation system using Q-factor based on a study circuit network, a map matching computation is carried out in such a manner that values D and V required for the computation of value Q are computed in a pre-computing part(30) by using a signal of which noise is removed in a navigation filter(10) and map information of a map information CD ROM(20), and existence of a travelling vehicle on a road is determined in a determination part(50), wherein a study circuit network(40) is provided between the pre-computation part and the determination part for studying a function having an output value αV+βD from the input values of the computed values D and V.
Abstract translation: 目的：提供一种基于研究电路网络的Q系数车辆导航系统的地图匹配方法，通过找到最佳参数组合，轻松适应任何道路的地图匹配，并通过使用研究能力轻松适应道路变化 学习电路网络。 构成：在基于研究电路网络的使用Q因子的车辆导航系统的地图匹配方法中，以如下方式执行地图匹配计算：计算值Q所需的值D和V 在导航过滤器（10）中使用去除噪声的信号和地图信息CD ROM（20）的地图信息，以及在道路上存在行驶车辆的预计算部分（30）在确定中确定 部分（50），其中研究电路网络（40）设置在预计算部分和确定部分之间，用于从计算值D和V的输入值研究具有输出值αV+βD的函数。
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公开(公告)号：KR100325251B1
公开(公告)日：2002-02-21
申请号：KR1019990018786
申请日：1999-05-25
Applicant: 한국과학기술원
IPC: G01C21/00
Abstract: 본발명은학습회로망에바탕을둔 Q 인자를이용한자동차항법시스템을위한맵 매칭방법에관한것이다. 본발명은 Q 인자를이용하여맵 매칭함으로써종래맵 매칭방법들이가지고있는문제점, 즉계산량이많고, 짧은도로와특징이없는도로등에서는정확히맵 매칭이되지않으며, 또한메모리를많이필요로하는문제점을해결함로써계산량이극히작아실시간으로적용이가능하다. 또한기존의 Q 인자방법이최적의파라미터조합을찾기가어렵고, 도로환경의변화에적응하기가쉽지않은점을학습회로망의학습능력을이용하여해결함으로써, 기존의 Q 인자방법의한계를극복하여어떠한형태의도로에대하여도정확히맵 매칭을수행할수 있으며, 차량항법시스템의오차에보다더 강한성능을나타낸다.
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Patent Agency Ranking
公开(公告)号：KR100379789B1
公开(公告)日：2003-04-11
申请号：KR1020000055835
申请日：2000-09-22
Applicant: 한국과학기술원
IPC: G06F3/12
CPC classification number: G06F3/1292 , G06F3/1205 , G06F3/1255 , G06F3/1261
Abstract: The present invention relates to a printing through a plurality of printer robot systems. Specifically, the invention provides a mobile printer system which prints letters or pictures inputted by a user without being constrained by the printing region through a plurality of mobile printer robots. The present invention comprises a plurality of mobile printer robot systems which have in-built printer functions and a main body which controls the printer operations through a wireless communication with the printer robot system.
Abstract translation: 本发明涉及通过多个打印机器人系统的打印。 具体而言，本发明提供了一种移动打印机系统，其通过多个移动打印机器人打印由用户输入的字母或图片而不受打印区域的限制。 本发明包括具有内置打印机功能的多个移动打印机器人系统和通过与打印机器人系统无线通信来控制打印机操作的主体。
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公开(公告)号：KR1020020063676A
公开(公告)日：2002-08-05
申请号：KR1020010004246
申请日：2001-01-30
Applicant: 한국과학기술원
IPC: G03B21/43
CPC classification number: G03B17/561 , F16M11/126 , G08B13/1963 , H04N5/23261
Abstract: PURPOSE: A pan and tilt driving apparatus for camera is provided to perform operation of pan and tilt of camera in an efficient manner by permitting the driving unit for pan to operate regardless of the load of the driving unit for tilt. CONSTITUTION: A pan and tilt driving apparatus comprises a camera mount(10) including a fixed frame(11), a rear plate(13) connected to the fixed frame through a pair of horizontal links(12), a pair of vertical links(14) connected to the horizontal links, and a connection rod(15) for interconnecting the vertical links; an independent action transmitting unit(20) connected to the connection rod, and which permits pan operation and tilt operation of the camera mount to be performed in an independent way; a pan operation unit(30) including a pan power transmitting member fixed to the fixed frame, and a pan driving member(31) connected to the pan power transmitting member; a tilt operation unit(40) including a tilt power transmitting member connected to the independent action transmitting unit, and a tilt driving member(41) connected to the tilt power transmitting member; and a disc(50) for supporting the pan operation unit and the tilt operation unit.
Abstract translation: 目的：提供一种用于摄像机的摇摄和倾斜驱动装置，通过允许用于摇摄的驱动单元来操作，无论驱动单元的载荷如何倾斜，都能够有效地执行摄像机的摇摄和倾斜操作。 构成：平转和俯仰驱动装置包括：摄像机安装座（10），包括固定框架（11），通过一对水平连杆（12）连接到固定框架的后板（13），一对垂直连杆 14）连接到所述水平连杆，以及连接杆（15），用于互连所述垂直连杆; 连接到所述连接杆的独立动作传送单元（20），并且能够以独立的方式执行所述相机底座的平移操作和倾斜操作; 包括固定在固定框架上的摇拍动力传递构件的平移操作单元（30）以及连接到摇拍动力传递构件的摇动驱动构件（31） 倾斜操作单元（40），其包括连接到独立动作发送单元的倾斜动力传递构件和连接到倾斜动力传递构件的倾斜驱动构件（41） 以及用于支撑摇摄操作单元和倾斜操作单元的盘（50）。
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公开(公告)号：KR100342432B1
公开(公告)日：2002-07-04
申请号：KR1020000009517
申请日：2000-02-25
Applicant: 한국과학기술원
IPC: A63F7/06
Abstract: 본 발명은 로봇으로 축구를 하는 게임기에 있어서의 게임방법에 관한 것으로, 동전을 투입하는 과정과, 게임의 난이도를 선택하는 과정과, 로봇들을 초기 위치에 자동으로 정열하는 과정과, 공을 경기장 중앙에 위치 시키는 과정과, 전광판에서 시작을 알리는 과정과, 게임자는 조이스틱을 이용해 로봇을 조작하고 다른편은 자동으로 로봇을 조작하므로써 경기를 하는 과정과, 공이 들어가는 경우 전광판의 점수가 올라가고 시간이 멈추며 들어간 공은 처음과 같이 경기장의 중앙에 위치하는 과정과, 시간이 종료되는 경우 점수를 표시하여 승자와 패자를 나누는 과정과, 경기 종료 후 로봇이 자동으로 자기 진영의 골대 옆에 있는 4개의 충전방에 각각 들어가는 과정으로 구성된다.
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公开(公告)号：KR1020020023526A
公开(公告)日：2002-03-29
申请号：KR1020000055835
申请日：2000-09-22
Applicant: 한국과학기술원
IPC: G06F3/12
CPC classification number: G06F3/1292 , G06F3/1205 , G06F3/1255 , G06F3/1261
Abstract: PURPOSE: A mobile printer system is provided to print a text or image inputted by a user without limit of area by using a plurality of printer robots. CONSTITUTION: The system includes a plurality of printer robot system(20, 30, 40) and a host computer(10) controlling to execute a printing operation by controlling the printer robot system. The host computer comprises a key input part(11) for applying a print command, a GUI(Graphic User Interface, 12) executing an interface between a user and the host computer, a data converter(13) converting the user input data through the GUI into the work data capable of printing, a work area allocating device(14) outputting a work area allocating data by allocating the work area of plural printer robot system, a printing robot controller(15) controlling the printer robot system and a data transceiver(16) crossly transceiving data with the plural printer robot system each other.
Abstract translation: 目的：提供移动打印机系统，通过使用多个打印机机器来打印由用户输入的文本或图像而不限于区域。 构成：该系统包括多个打印机机器人系统（20,30,40）和主机（10），主机通过控制打印机器人系统来控制执行打印操作。 主计算机包括用于应用打印命令的键输入部分（11），执行用户与主计算机之间的界面的GUI（图形用户界面）12，数据转换器（13），通过 GUI打印到能够打印的工作数据中;工作区域分配装置（14），通过分配多个打印机器人系统的工作区域输出分配数据的工作区域;打印机器人控制器（15），其控制打印机器人系统和数据收发器 （16）与多个打印机机器人系统彼此交叉收发数据。
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公开(公告)号：KR100421422B1
公开(公告)日：2004-03-09
申请号：KR1020010004246
申请日：2001-01-30
Applicant: 한국과학기술원
IPC: G03B21/43
Abstract: PURPOSE: A pan and tilt driving apparatus for camera is provided to perform operation of pan and tilt of camera in an efficient manner by permitting the driving unit for pan to operate regardless of the load of the driving unit for tilt. CONSTITUTION: A pan and tilt driving apparatus comprises a camera mount(10) including a fixed frame(11), a rear plate(13) connected to the fixed frame through a pair of horizontal links(12), a pair of vertical links(14) connected to the horizontal links, and a connection rod(15) for interconnecting the vertical links; an independent action transmitting unit(20) connected to the connection rod, and which permits pan operation and tilt operation of the camera mount to be performed in an independent way; a pan operation unit(30) including a pan power transmitting member fixed to the fixed frame, and a pan driving member(31) connected to the pan power transmitting member; a tilt operation unit(40) including a tilt power transmitting member connected to the independent action transmitting unit, and a tilt driving member(41) connected to the tilt power transmitting member; and a disc(50) for supporting the pan operation unit and the tilt operation unit.
Abstract translation: 目的：提供一种用于照相机的摇摄和倾斜驱动装置，以通过允许用于摇动的摇摄用驱动单元无论倾斜的驱动单元的负载如何而以高效的方式执行照相机的摇摄和倾斜操作。 1，一种摇摄和倾斜驱动装置，包括：一个摄像机支架（10），它包括一个固定框架（11），一个通过一对水平连杆（12）连接到固定框架的后板（13），一对垂直连杆 连接到水平连杆的连接杆（14）;以及用于互连垂直连杆的连接杆（15） 独立动作发送单元（20），其连接到所述连接杆，并且允许独立地执行所述摄像机支架的摇动操作和倾斜操作; 包括固定在所述固定框架上的平底锅动力传递部件和连接在所述平底锅动力传递部件上的平底锅驱动部件的平底锅操作部; 包括连接到独立动作发送单元的倾斜动力传输部件和连接到倾斜动力传输部件的倾斜驱动部件（41）的倾斜操作单元（40） 以及用于支撑摇摄操作单元和倾斜操作单元的盘（50）。
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