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    • 7. 发明授权
    • 초음파 센서를 이용한 상대적 위치 추정 시스템 및 방법
    • 相对本地化系统和使用超声波传感器的方法
    • KR101255024B1
    • 2013-04-17
    • KR1020110108571
    • 2011-10-24
    • 한국과학기술연구원
    • 최종석강성철최인성
    • G01S15/06G01S1/72G01S5/18
    • PURPOSE: A relative position estimation system and a method thereof based on an ultrasonic wave sensor are provided to estimate location and moving direction of an object. CONSTITUTION: A position estimation system includes a first mobile robot(10), a second mobile robot(20) and a server unit(30) . The first mobile robot is installed with a plurality of ultrasonic wave sensors and acquires distance information of an object in the surroundings. The second mobile robot is installed with a plurality of ultrasonic wave sensors and acquires distance information of the object in the surroundings. The server unit receives acquired distance information from the plurality of ultrasonic wave sensors installed in the first mobile robot and the second mobile robot. The server unit determines a pair of ultrasonic wave sensors having the same distance measurement value in the plurality of ultrasonic wave sensors installed in the first mobile robot and the plurality of ultrasonic wave sensors installed the second mobile robot and estimates a relative position and direction between the first mobile robot and the second mobile robot based on the determined pair of ultrasonic wave sensors. [Reference numerals] (12,22) Ultrasonic sensor; (14,24) Electronic compass; (16,26) Odometer; (18,28) Control unit; (30) Server unit;
    • 目的:提供一种基于超声波传感器的相对位置估计系统及其方法来估计物体的位置和移动方向。 构成:位置估计系统包括第一移动机器人(10),第二移动机器人(20)和服务器单元(30)。 第一移动机器人安装有多个超声波传感器并获取周围物体的距离信息。 第二移动机器人安装有多个超声波传感器并获取周围物体的距离信息。 服务器单元从安装在第一移动机器人和第二移动机器人中的多个超声波传感器接收获取的距离信息。 服务器单元确定在安装在第一移动机器人中的多个超声波传感器中具有相同距离测量值的一对超声波传感器,并且多个超声波传感器安装第二移动机器人,并且估计第二移动机器人之间的相对位置和方向 第一个移动机器人和第二个移动机器人基于确定的一对超声波传感器。 (附图标记)(12,22)超声波传感器; (14,24)电子罗盘; (16,26)里程表 (18,28)控制单元; (30)服务器单元;
    • 8. 发明授权
    • 피페라지닐알킬피라졸계 T-타입 칼슘 채널 억제 화합물 및이의 제조방법
    • 피페라지닐알킬피라졸계T-타입칼슘억억제화합물및이의제조방피
    • KR100654328B1
    • 2006-12-08
    • KR1020050079095
    • 2005-08-26
    • 한국과학기술연구원
    • 남길수최경일고훈영배애님임혜원최인성
    • C07D401/12
    • A novel piperazinylalkylpyrazole derivative is provided to be able to selectively block T-type calcium ion channels, thereby showing better pain, hypertension, and epilepsy therapeutic effect compared to conventional medicines. The piperazinylalkylpyrazole derivative is represented by the formula(1), where R1 is phenyl, X1-substituted phenyl(where X1 is nitro, methyl, chloro, or methoxy, the substitution position is ortho, meta, or para, and mono, di, tri, tetra or all are able to be substituted), 1,1-diphenylmethyl or X2-substituted diphenylmethyl(where X2 is chloro or methyl, the substitution position is ortho, meta, or para, and mono, di, tri, tetra or all are able to be substituted), R2 is H, methyl or ethyl, R3 is methyl, propyl, isobutyl, phenyl, cyclohexyl, substituted phenyl(methyl, chloro, or methoxy as a substituent), naphthyl, piperidinyl, R4 is H, C1-6 alkyl, 2-furyl, phenyl or X3-substituted phenyl(where X3 is chloro, methyl, cyclohexyl or piperidinyl, the substitution position is ortho, meta, or para, and mono, di, tri, tetra or all are able to be substituted), and n is an integer from 0 to 3.
    • 提供了一种新的哌嗪基烷基吡唑衍生物,能够选择性阻断T型钙离子通道,因此与常规药物相比,表现出更好的疼痛,高血压和癫痫治疗效果。 哌嗪基烷基吡唑衍生物由式(1)表示,其中R 1为苯基,X 1取代的苯基(其中X 1为硝基,甲基,氯或甲氧基,取代位置为邻位,间位或对位, 三或四或全部能够被取代),1,1-二苯基甲基或X2-取代的二苯基甲基(其中X2是氯或甲基,取代位置是邻位,间位或对位,以及单,二,三,四或 全部能被取代),R2是H,甲基或乙基,R3是甲基,丙基,异丁基,苯基,环己基,取代的苯基(甲基,氯或甲氧基作为取代基),萘基,哌啶基,R4是H, C 1-6烷基,2-呋喃基,苯基或X 3 - 取代的苯基(其中X 3为氯,甲基,环己基或哌啶基,取代位置为邻位,间位或对位,并且单,二,三,四或全部 被取代),并且n是0至3的整数。
    • 10. 发明授权
    • 뇨검사및판독자동화시스템
    • 尿液测试和分解自动系统
    • KR100129488B1
    • 1998-04-08
    • KR1019940004070
    • 1994-03-03
    • 한국과학기술연구원
    • 정태화유동주최인성송은영민홍기
    • G01N33/493
    • Automatic system of urine test and decipherment is applied as follows; (a) After comparing the measuring value of reflection light with the standard value to save that comparative value in RAM(17), and analyze qualitatively and quantitatively the comparative value saved in RAM(17) according to the program saved in ROM(16) to output the value to a printer(13). (b) Micro-controller(10) discriminates whether measuring result by each item is positive or negative, and if the result is positive, radiate a luminous diode(12) with red, when negative, radiate it with green. (c) In case the output of urine measuring result is finished, discriminate whether the result is the last measuring item or not, and if the result is the last item, finish urine decipherment process.
    • 尿液检查和解密的自动系统应用如下: (a)将反射光的测量值与标准值进行比较以将该比较值保存在RAM(17)中,并根据保存在ROM(16)中的程序定期和定量地分析存储在RAM(17)中的比较值, 以将该值输出到打印机(13)。 (b)微控制器(10)鉴别每个项目的测量结果是正还是负,并且如果结果为正,则用红色辐射发光二极管(12),否则将其用绿色辐射。 (c)尿液测定结果的输出结束后,判断结果是否为最后一个测量项目,如果结果为最后一项,则完成尿液解密处理。