公开(公告)号：KR101216065B1

公开(公告)日：2012-12-27

申请号：KR1020110093226

申请日：2011-09-16

Applicant: 한국과학기술원

Inventor： 심현철 ,  허성식 ,  이성기

IPC: B25J3/00 ,  E02F9/20 ,  G06F3/033 ,  G06T7/20

Abstract: PURPOSE: A system for driving a resource development robot by a remote control device based on a camera which three-dimensionally senses the motion of marker gloves is provided to prevent electric effects as the joint parts of gloves are covered with high visibility colors, and detected by a camera. CONSTITUTION: A system for driving a resource development robot(600) by a remote control device based on a camera which three-dimensionally senses the motion of marker gloves comprises a remote input unit(100), a remote input processing unit(200), a wireless transmit unit(300), a wireless receiving unit, and a robot control unit(500). The remote input unit comprises marker gloves and a camera unit. The camera unit films the movements of a marker. The remote input processing unit calculates the angle of a correspondent joint in the resource development robot corresponding to changes in three dimensional positions. The wireless transmit unit and wireless receiving unit transmit and receive a calculated angle value of the joint. The robot control unit controls the joints of the resource development robot on the basis of the calculated angle value. The working implement of the resource development robot is operated by a fluid cylinder. [Reference numerals] (100) Remote input unit; (200) Remote input processing unit; (300) Wireless transmit unit; (400) Wireless receiving unit; (500) Robot control unit; (600) Resource development robot

Abstract translation: 目的：提供一种通过基于摄像机驱动资源开发机器人的系统，该摄像机三维地感测标记手套的运动，以防止手套的关节部分被高可见度颜色覆盖并且被检测到的电效应 通过相机。 构成：用于通过三维地感测标记手套的运动的照相机由遥控装置驱动资源开发机器人（600）的系统包括远程输入单元（100），远程输入处理单元（200） 无线发射单元（300），无线接收单元和机器人控制单元（500）。 远程输入单元包括标记手套和相机单元。 相机单元拍摄标记的运动。 远程输入处理单元计算与三维位置的变化相对应的资源开发机器人中的对应关节的角度。 无线发射单元和无线接收单元发送和接收计算出的关节角度值。 机器人控制单元根据计算出的角度值来控制资源开发机器人的关节。 资源开发机器人的工作装置由流体缸操作。 （附图标记）（100）远程输入单元; （200）远程输入处理单元; （300）无线发射单元; （400）无线接收单元; （500）机器人控制单元; （600）资源开发机器人