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公开(公告)号：KR1020130072614A
公开(公告)日：2013-07-02
申请号：KR1020110140122
申请日：2011-12-22
Applicant: 한국전자통신연구원
IPC: G01S19/39
CPC classification number: G01C21/26 , G01C21/165 , G01S19/48 , G06K9/00785 , G06K9/00798 , G06T7/73 , G06T2207/10016 , G06T2207/20076 , G06T2207/30256
Abstract: PURPOSE: An apparatus for verifying the position of a moving object, capable of precisely verifying the position of a moving object with a low-cost sensor by revalidate the position of a particle according to the movement of the moving object, using information of a sensor, an image, and a topological map, and by estimating the position of the moving object with a high-accuracy particle as a center, and method thereof are provided. CONSTITUTION: An apparatus for verifying the position of a moving object comprises a sensor information collecting unit (100) collecting information related to the movement of the moving object and to an associated sensor; a camera part (104) inputting video information of the front according to the movement of the moving object; a GPS receiver (102) receiving the location information of the moving object; a map information storage (108) providing the map of a region in which the moving object is positioned; and a position recognizer (106) marking on the map N particles able to be determined by the position of the moving object around certain regions with the GPS position of the moving object as a center, revalidating the position of the particle according to the movement of the moving object by using information of a sensor, an image, and a map, and recognizing the position of the moving object while reducing the particles based on the accuracy of the position-revalidated particles. [Reference numerals] (100) Sensor information collecting unit; (102) GPS receiver; (104) Camera part; (106) Position recognizer; (108) Map information storage unit; (110) Control unit
Abstract translation: 目的：一种用于验证移动物体的位置的设备，其能够使用传感器的信息，通过根据移动物体的移动来重新验证粒子的位置，从而精确地检验移动物体的位置，并利用低成本传感器 ，图像和拓扑图，并且通过以高精度粒子为中心估计移动物体的位置，以及其方法。 构成：用于验证移动物体的位置的装置包括：传感器信息收集单元（100），收集与移动物体的运动有关的信息和相关联的传感器; 照相机部件，根据移动体的移动输入前方的视频信息; 接收移动物体的位置信息的GPS接收器（102）; 提供运动物体所位于的区域的地图的地图信息存储部（108） 以及位置识别器（106），其以能够以所述移动物体的GPS位置为中心的某些区域周围的移动物体的位置确定地图上的N个粒子，根据所述移动物体的移动来重新验证所述粒子的位置 通过使用传感器，图像和地图的信息来移动物体，并且基于位置重新验证的粒子的精度来减小运动物体的位置。 （附图标记）（100）传感器信息收集单元; （102）GPS接收机; （104）相机部件; （106）位置识别器; （108）地图信息存储单元; （110）控制单元
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公开(公告)号：KR1020130065126A
公开(公告)日：2013-06-19
申请号：KR1020110131849
申请日：2011-12-09
Applicant: 한국전자통신연구원
CPC classification number: G05D1/0212 , B62D1/28 , G05D1/024 , G05D1/0246 , G05D1/0274 , G05D1/0278 , G05D2201/0213
Abstract: PURPOSE: A route setting device and method for a moving object are provided to generate a stable route for a moving object by using GIS(Geographic Information System) information and sensor information even if the location of the moving object is incorrect in outdoor autonomous driving. CONSTITUTION: An information reception part(100) receives map data from the outside. A global route generation part(120) generates a global route based on the map data, location information of a moving object itself, and destination information. A surrounding environment sensor part(150) senses information about surrounding environment of the moving object when the moving object is moving. A local route generation part(160) generates a local route based on the sensed information about surrounding environment. A driving part drives the moving object based on the local route, and if two or more local routes are generated, sets up a moving object route by matching the local routes with the global route and drives the moving object. [Reference numerals] (100) Information reception part; (110) GPS sensor; (120) Global route generation part; (130) Storage part; (140) Driving part; (150) Surrounding environment sensor part; (160) Local route generation part
Abstract translation: 目的：提供一种用于移动物体的路线设定装置和方法，即使在户外自主驾驶中移动物体的位置不正确，也可以通过使用GIS（地理信息系统）信息和传感器信息来生成运动物体的稳定路线。 构成：信息接收部（100）从外部接收地图数据。 全局路由生成部（120）基于地图数据，移动对象本身的位置信息和目的地信息生成全局路由。 周围环境传感器部件（150）在移动物体移动时感测关于移动物体的周围环境的信息。 本地路由产生部分（160）基于感测到的关于周围环境的信息生成本地路由。 驱动部分基于本地路由驱动移动对象，并且如果生成了两条或更多条本地路由，则通过将本地路由与全局路由匹配来驱动移动对象来建立移动对象路由。 （附图标记）（100）信息接收部; （110）GPS传感器; （120）全球路线生成部分; （130）储存部分; （140）驾驶部分; （150）周围环境传感器部分; （160）本地路由生成部分
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公开(公告)号：KR101126079B1
公开(公告)日：2012-03-29
申请号：KR1020090031247
申请日：2009-04-10
Applicant: 한국전자통신연구원 , 에스케이플래닛 주식회사
Abstract: 본 발명은 광역 공간의 지역 지도 사이의 경로 생성 장치 및 방법에 관한 것으로, 로봇 등과 같은 이동체가 효율성을 위해 광역 공간을 여러 지역 공간으로 나누어 필요한 지역 지도만을 사용하는 경우에, 각 지역 공간 지도의 지역 좌표계들 사이의 관계를 이용하여 지역 공간 사이를 주행할 수 있는 경로를 신속하게 생성할 수 있으므로 광역 공간 내에서도 효율적으로 이동할 수 있는 이점이 있다.
경로 계획, 광역 공간, 지역 지도, 이동 로봇-
4.发明公开위치 인식을 위한 격자 지도 작성 장치 및 그 방법 无效Y Y TION TION TION TION TION TION TION TION TION TION TION TION TION TION TION TION TION TION TION TION
公开(公告)号：KR1020100070922A
公开(公告)日：2010-06-28
申请号：KR1020080129668
申请日：2008-12-18
Applicant: 한국전자통신연구원 , 에스케이텔레콤 주식회사
Abstract: PURPOSE: A grid map drawing device for location recognition is provided to rapidly obtain space information for the location detection of a moving robot. CONSTITUTION: A grid mapping device for recognizing a position comprises a measuring unit(106), a landmark sensing unit(108), a controller(102), and a grid mapping unit(110). The measuring unit creates distance information by measuring the distance with peripheral objects. The landmark sensing unit senses a landmark installed within the fixed space and creates the location information. The controller controls grid mapping by offering the distance information and the location information. The grid mapping unit makes a grid map by receiving the produced distance information and the location information.
Abstract translation: 目的：提供用于位置识别的网格图绘图设备，以快速获取移动机器人位置检测的空间信息。 构成：用于识别位置的网格映射设备包括测量单元（106），地标感测单元（108），控制器（102）和网格映射单元（110）。 测量单元通过测量与周边物体的距离来创建距离信息。 地标感测单元感测安装在固定空间内的地标，并创建位置信息。 控制器通过提供距离信息和位置信息来控制网格映射。 网格映射单元通过接收所产生的距离信息和位置信息来形成网格图。
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公开(公告)号：KR1020100062858A
公开(公告)日：2010-06-10
申请号：KR1020090031365
申请日：2009-04-10
Applicant: 한국전자통신연구원
Abstract: PURPOSE: A device and a method for making a natural landmark map based on an image are provided to calculate a location by the times of wheel rotation, measure distance information through a laser sensor, and make a map, thereby accurately making a natural landmark map based on an image for recognizing the environment around a mobile body. CONSTITUTION: A moving body sensing unit(10) senses a wheel rotation number, distance information, and image information. A moving body sensing information processor(30) extracts a natural landmark based on an image from the sensed image information. A map making unit(50) makes a physical measurement-based map through the movement distance and the distance information of the mobile body. The map making unit makes an internal map by coordinate synchronization of the physical measurement based map and the image based map.
Abstract translation: 目的：提供一种基于图像制作自然地标地图的装置和方法，以通过轮转时间来计算位置，通过激光传感器测量距离信息，并制作地图，从而准确地制作天然地标图 基于用于识别移动体周围的环境的图像。 构成：移动体检测单元（10）感测车轮旋转数，距离信息和图像信息。 移动体感测信息处理器（30）基于来自感测图像信息的图像提取自然界标。 地图制作单元（50）通过移动距离和移动体的距离信息进行基于物理测量的地图。 地图制作单元通过基于物理测量的地图和基于图像的地图的坐标同步来进行内部地图。
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Patent Agency Ranking
公开(公告)号：KR100936710B1
公开(公告)日：2010-01-13
申请号：KR1020070026154
申请日：2007-03-16
Applicant: 한국전자통신연구원
Abstract: 본 발명의 주행기록계와 방향센서를 이용한 이동체의 위치 결정 시스템은, 주행기록계에서 측정한 절대 위치 변이량에 cos(θ(t))를 곱하여 X축으로 이동한 거리를 산출하는 X축 변환부와, 주행기록계에서 측정한 절대 위치 변이량에 sin(θ(t))를 곱하여 Y축으로 이동한 거리를 산출하는 Y축 변환부와, 방향센서로부터 기준 방향 정보를 이용하고 방향 변이값을 관측하는 방향 변이 센서와, X축 변환부, Y축 변환부 및 방향 변이 센서로부터 각각 X축으로 이동한 거리, Y축으로 이동한 거리 및 방향 변이값을 수신하여 이동체의 현재 위치를 산출하는 칼만필터로 구성되므로, 가속도계와 외부 관측 센서의 도움없이 이동체의 위치를 결정할 수 있으므로 고주파 잡음을 거의 가지지 않게 되며 이러한 이유로 저속도 이동체의 경우에 그 위치를 파악하는 데에 매우 유용하게 이용될 수 있는 효과가 있다.
위치 결정(position estimation), 주행기록계(odometer), 자이로(gyroscope), 자기 센서(magnetic compass), 칼만필터(Kalman filter)-
公开(公告)号：KR100883520B1
公开(公告)日：2009-02-13
申请号：KR1020070073422
申请日：2007-07-23
Applicant: 한국전자통신연구원
IPC: G01S13/06
CPC classification number: G05D1/0274 , G01C21/32 , G05D1/0231 , G05D1/024 , G05D1/0272 , G05D2201/0203
Abstract: 본 발명은 이동체와 레이저 센서 등의 거리측정 센서를 이용하여 실내 환경지도를 신속하게 획득하기 위한 방법에 관한 것이다. 이때 작성되는 지도로는 주위환경을 바둑판 모양으로 여러 격자들로 나눈 후, 격자에 해당하는 위치에 물체가 존재할 확률값을 부여하는 격자지도이다. 이를 작성하기 위해 기본적으로 물체 위치 측정 장치로는 레이저 센서 등의 거리측정 센서를 사용하였으며, 운송수단으로는 인코더가 장착된 이동체를 사용하였다. 거리측정 센서와 이동체에서 제공된 정보를 활용하여 보다 신속하고 정확하게 실내지도를 작성하는 기술을 본 발명에서 제안하고자 한다.
실내지도, 레이저 센서, 거리측정 센서, 이동체, 확장칼만필터(Extended Kalman Filter)-
公开(公告)号：KR1020090002640A
公开(公告)日：2009-01-09
申请号：KR1020070066158
申请日：2007-07-02
Applicant: 한국전자통신연구원
CPC classification number: G06Q50/10 , B25J9/023 , B25J13/086 , B62D15/0265 , H03M7/707
Abstract: A hierarchical classification system according to the function of an environment map for an moving object and a method of using the system are provided to easily update a map by using a map format which separates functions according to characteristic and purposes of the map. A hierarchical classification system according to the function of an environment map for a moving object includes lower layer maps corresponding to a plurality maps(100,110,120) which are constructed in the moving object and/or a user terminal and generated according to a space unit, and an upper layer map which is constructed in the moving object and/or the user terminal, connected to the lower layer maps through a network, integrates information of the lower layer maps and uses the integrated information.
Abstract translation: 提供根据移动对象的环境地图的功能的分层分类系统和使用该系统的方法，通过使用根据地图的特征和目的分离功能的地图格式来容易地更新地图。 根据移动物体的环境地图的功能的层次分类系统包括对应于在移动物体和/或用户终端中构造并根据空间单位生成的多个地图（100,110,120）的下层图，以及 通过网络连接到下层映射的移动物体和/或用户终端中构造的上层图集成了下层地图的信息并使用综合信息。
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公开(公告)号：KR1020080094136A
公开(公告)日：2008-10-23
申请号：KR1020070038144
申请日：2007-04-19
Applicant: 한국전자통신연구원
IPC: G05D3/12
CPC classification number: G05D3/12 , G05D1/0259
Abstract: A method and an apparatus for measuring location and direction information of a moving object are provided to decrease a measurement error by using two magnetic filed sensors to obtain an absolute direction, and one magnetic field sensor to compensate for the measured result. An apparatus for measuring location and direction information of a moving object includes first to third magnetic field sensors(10,20,30). The first and second magnetic field sensors store earth magnetic field information with respect to three axes on three magnetic field sensors. The first and second magnetic field sensors calculate an azimuth angle. The third magnetic field sensor is configured to detect an external disturbance. A disturbance is determined, when a relation of abs(Vzo-Vzb)
Abstract translation: 提供一种用于测量移动物体的位置和方向信息的方法和装置，以通过使用两个磁场传感器来获得绝对方向来减小测量误差，以及一个磁场传感器来补偿测量结果。 用于测量移动物体的位置和方向信息的装置包括第一至第三磁场传感器（10,20,30）。 第一和第二磁场传感器相对于三个磁场传感器上的三个轴存储接地磁场信息。 第一和第二磁场传感器计算方位角。 第三磁场传感器被配置为检测外部干扰。 当abs（Vzo-Vzb）
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公开(公告)号：KR1020080029239A
公开(公告)日：2008-04-03
申请号：KR1020060095051
申请日：2006-09-28
Applicant: 한국전자통신연구원
CPC classification number: G09B29/003 , B25J9/00
Abstract: An apparatus for constructing an environment map via an optimal path of an autonomous mobile robot and a method thereof are provided to construct rapidly and efficiently an initial map used for an optimal path plan, a self position estimation and avoidance of obstacles needed for enabling the robot to arrive at a destination. A method for constructing an environment map via an optimal path of an autonomous mobile robot comprises the following several steps. A map constructing apparatus starts constructing a map in a lattice direction while considering a direction of an object in a lattice map where existence of the object is expressed with probability if receiving a map construction instruction(S120,S140). The map constructing apparatus divides an overall map, where the map is constructed in the lattice direction, into local maps with set sizes(S160). The apparatus calculates disorder rate of the divided local map according as receiving the map construction instruction(S180). The apparatus constructs the map for each area according to an optimal path for construction of the map on the basis of the disorder rate of each area map(S200).
Abstract translation: 提供一种用于通过自主移动机器人的最佳路径构建环境地图的装置及其方法，以快速有效地构建用于最佳路径规划的初始图，自我位置估计和避免启用机器人所需的障碍物 到达目的地。 一种通过自主移动机器人的最优路径构建环境地图的方法包括以下几个步骤。 如果接收到地图构造指令（S120，S140），地图构造装置开始在格子方向上构建地图，同时考虑物体的存在以概率表示的格子图中的对象的方向。 地图构建装置将映射在格子方向上构成的整体映射划分为具有设定大小的局部映射（S160）。 该装置根据接收到地图构造指示来计算划分的本地地图的无序率（S180）。 该装置根据每个区域图的无序率根据用于构建地图的最佳路径构建每个区域的映射（S200）。
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