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51. 发明授权

KR101357599B1 3차원 구체 구동 장치 有权
标题翻译：用于三维刚体球执行的装置
公开(公告)号：KR101357599B1
公开(公告)日：2014-02-05
申请号：KR1020130097677
申请日：2013-08-19
申请人： 한국항공우주연구원
发明人： 강우용 , 김대관 , 최홍택
IPC分类号： B64G1/28
CPC分类号： B64G1/24 , B64G2001/245 , G05D1/0883 , G05D1/10 , H01F7/06
摘要： A three-dimensional rigid ball actuator (1000) according to the present invention includes a main frame (100) having a rigid ball (10) inside; a plurality of electromagnets (200) which are arranged on the main frame in the circumferential direction of a first shaft passing through the center of the rigid ball (10) and which actuate the rigid ball (10) in the circumferential direction of the first shaft by forming a magnetic field; a first actuating unit (300) for actuating the main frame (100) around the first shaft as an actuating shaft; and a second actuating unit (400) for actuating the main frame (100) around a shaft vertical to the first shaft as an actuating shaft.
摘要翻译：根据本发明的三维刚性球致动器（1000）包括在内部具有刚性球（10）的主框架（100）多个电磁体（200），其在通过刚性球（10）的中心的第一轴的圆周方向上布置在主框架上并且在第一轴的圆周方向上致动刚性球（10）通过形成磁场; 用于致动所述主框架（100）的第一致动单元（300）围绕所述第一轴作为致动轴; 以及用于致动所述主框架（100）的第二致动单元（400）围绕垂直于所述第一轴的轴作为致动轴。

52. 发明授权

KR101048528B1 해저 탐사장치 및 탐사방법 有权
标题翻译：用于海底探测的装置和方法
公开(公告)号：KR101048528B1
公开(公告)日：2011-07-12
申请号：KR1020110012179
申请日：2011-02-11
申请人： 한국지질자원연구원
发明人： 천종화 , 김학주 , 류병재 , 박장준
IPC分类号： B63C11/48 , G01V1/00 , G01S15/88 , G05D1/10
CPC分类号： G05D1/10 , B63G8/001 , G01S5/26 , G01S15/003 , G01V1/3852
摘要： PURPOSE: A seabed exploring device and method are provided to accurately recognize the location of an unmanned submarine because the transponder of an acoustic positioning system and the finger of a precise water depth measuring system are installed in the unmanned submarine. CONSTITUTION: A seabed exploring device comprises an unmanned submarine(10), a transponder(30) of an acoustic positioning system, a finger(40), a measuring unit, and a deposit collecting unit(110). The unmanned submarine is connected to a ship through a tracking cable. The transponder of the acoustic positioning system is installed in the unmanned submarine. The finger is installed in the unmanned submarine and outputs a signal which can be received by a receiver of a precise water depth measuring system installed in the ship. The measuring unit installed in the unmanned submarine to detect or measure various information on the seabed where the unmanned submarine is located. The deposit collecting unit collects deposits from the seabed when the unmanned submarine is landed on the seabed.
摘要翻译：目的：提供海底探测装置和方法，以准确识别无人潜艇的位置，因为声学定位系统的应答器和精确水深测量系统的手指安装在无人潜艇中。构成：海底探测装置包括无人潜艇（10），声学定位系统的转发器（30），手指（40），测量单元和沉积物收集单元（110）。无人潜艇通过跟踪电缆连接到船舶。声学定位系统的应答器安装在无人潜艇中。手指安装在无人潜艇中，并输出可由船上安装的精确水深测量系统的接收器接收的信号。安装在无人潜艇上的测量单元，用于检测或测量无人潜艇所在海床上的各种信息。当无人潜艇降落在海底时，存款收集单位从海底收取存款。

53. 发明公开

KR1020110015765A 로봇의 경로계획장치 및 그 방법 无效
标题翻译：机器人路线规划设备及其方法
公开(公告)号：KR1020110015765A
公开(公告)日：2011-02-17
申请号：KR1020090073154
申请日：2009-08-10
申请人： 삼성전자주식회사
发明人： 곽천슈 , 노경식 , 임산 , 임복만 , 김명희
IPC分类号： B25J13/08 , G05D1/10 , B25J9/10
CPC分类号： B25J9/1664 , G05B2219/40455 , B25J13/08 , B25J9/10 , G01C21/00 , G05D1/10
摘要： PURPOSE: A path planning apparatus of a robot and a method thereof are provided to safely grasp objects by accurately determining an access path in consideration of access score between the robot and the obstacle. CONSTITUTION: A path planning method of a robot comprises following steps. If a robot hand moves along the access route candidate selected among multiple access route candidates(P1~P4), whether the robot hand collides with the obstacle is determined. If the robot hand does not collide with the obstacle, the access score corresponding to the access route candidate is calculated. The plan of the access path is completed using the access score.
摘要翻译：目的：提供机器人的路径规划装置及其方法，以便通过考虑到机器人与障碍物之间的访问分数准确地确定访问路径来安全地掌握对象。构成：机器人的路径规划方法包括以下步骤。如果机器人手沿着从多个接入路由候选（P1〜P4）中选择的接入路由候选者移动，则确定机器人手与障碍物是否碰撞。如果机器人手不与障碍物碰撞，则计算对应于访问路线候选的访问分数。访问路径的计划使用访问分数完成。

54. 发明公开

KR1020100007726A 이미징 센서 및 디지털화된 맵을 이용한 관성 측정 失效
标题翻译：具有成像传感器和数字地图的实时测量
公开(公告)号：KR1020100007726A
公开(公告)日：2010-01-22
申请号：KR1020090059967
申请日：2009-07-01
申请人： 록히드 마틴 코포레이션
发明人： 테너쥔디. , 호킨스앤드류에이치. , 보반코비치마크에이. , 글레로스루이스엔.
IPC分类号： F41G7/00 , G01C21/00 , G01C21/16
CPC分类号： G01C21/005 , F41G7/34 , G01S5/163 , G01S13/876 , G01S17/875 , G05D1/10 , G06T7/75 , G06T2207/10032 , G06T2207/30252
摘要： PURPOSE: Inertial measurement with an imaging sensor and a digitized map is provided to solve a drift problem and a cost problem, and satisfy essential factors of a navigation. CONSTITUTION: An image data of a first scene from a moving object is captured by a detector or a sensor. At least three features are discriminated by the image data of the first scene(311). Map positions corresponded with the features of the image data, and vehicle positions within a map are decided by comparing the three features with features within the map(321). The attitude of the moving object is calculated based on a gap between the features within the image data and the features within the map(341).
摘要翻译：目的：提供使用成像传感器和数字化地图进行惯性测量，以解决漂移问题和成本问题，并满足导航的基本要素。构成：来自移动物体的第一场景的图像数据由检测器或传感器捕获。至少三个特征被第一场景（311）的图像数据区分开。地图位置对应于图像数据的特征，并且通过将三个特征与地图内的特征进行比较来确定地图内的车辆位置（321）。基于图像数据内的特征与地图内的特征之间的间隙来计算移动物体的姿态（341）。

55. 发明公开

KR1020050091367A 3차원 포인팅 방법을 이용한 로봇의 원격 제어 방법 및이를 구현한 로봇 제어 시스템 有权
标题翻译：使用三维指向方法和机器人控制系统的机器人远程控制方法
公开(公告)号：KR1020050091367A
公开(公告)日：2005-09-15
申请号：KR1020040016796
申请日：2004-03-12
申请人： 삼성전자주식회사
发明人： 김동윤 , 오종구 , 방원철 , 조준기 , 강경호 , 조성정 , 최은석 , 장욱
IPC分类号： G08C23/04 , G05D1/10
CPC分类号： G08C23/04 , G05D1/0016 , G05D1/0033 , G05D2201/0203 , G08C2201/91 , G05D1/10
摘要： A remote robot control method using a three-dimensional pointing procedure and a robot control system using the remote robot control method. The robot control system controls a robot in response to a user's gesture or sign without modifying the structure of the robot. The remote robot control method includes measuring a distance between a remote controller and a robot, calculating an initial position of the remote controller in an inertial navigation frame of the remote controller, calculating an initial position of the robot in the navigation frame of the remote controller, calculating an origin of the inertial navigation frame of the remote controller shown in an inertial navigation frame of the robot, calculating a new position of the remote controller in the inertial navigation frame of the remote controller, and calculating a new position of the robot in the navigation frame of the robot.

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