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1. 发明授权

KR100871447B1 가변형 무한궤도를 갖는 이동장치 有权
标题翻译：移动装置与可变形型的CATERPILLAR
公开(公告)号：KR100871447B1
公开(公告)日：2008-12-03
申请号：KR1020070083641
申请日：2007-08-20
申请人： 충남대학교산학협력단 , 주식회사 한백전자
发明人： 이지홍 , 권혁조 , 김두규 , 박성국 , 진수춘
IPC分类号： B62D55/30 , B62D55/084 , B62D55/18
摘要： A transport unit having the variable form endless track including tension control mean is provided to maintain the constant tension of the endless track since the height of each endless track is adjustable. A transport unit having the variable form endless track including tension control mean comprises a frame(10), a pair of endless track(50) which is installed parallel to both sides of the frame, a first arm assembly(20) and a second arm assembly(30) which is connected to each rotation motors(24,36) in order to individually vary the orbit height of the right side and left side and is circled, a first arm shaft(21) which is connected to the tension control mean(40) in order to regularly maintain the tension of the endless track, a first pulley(22) fixed axis in the first arm shaft, a first swiveling plate(23) in which a pair of rollers(231) which is behind fixed axis and supports the inner surface of the endless track of the first pulley is equipped, a first swiveling motor(24) which tooth-combined with the first pulley in order to be connected to the tension control mean(40) and the first swiveling plate is swiveled, a second arm shaft(31) which the second arm assembly is pivotally hinge-coupled in frame, a second pulley(32) which is fixed axis in the second arm shaft in order to deliver the driving force to the second arm shaft, a third pulley(33) hinge-coupled to the second arm shaft, a second swiveling plate(34) hinge-coupled in the second arm shaft.
摘要翻译：提供具有包括张力控制装置在内的可变形环形轨道的传送单元，以保持环形轨道的恒定张力，因为每个环形轨道的高度是可调节的。具有包括张力控制装置的可变形环形履带的运输单元包括框架（10），平行于框架两侧安装的一对环形轨道（50），第一臂组件（20）和第二臂组件（30），其连接到每个旋转马达（24,36），以单独地改变右侧和左侧的轨道高度并且圈出;第一臂轴（21），其连接到张力控制装置（40），以便规则地保持所述环形轨道的张力，所述第一臂轴中的固定轴线的第一滑轮（22），第一旋转板（23），其中一对辊（231）位于固定轴之后并支撑第一滑轮的环形轨道的内表面，与第一滑轮齿结合以便连接到张力控制装置（40）和第一旋转板的第一旋转马达（24）第二臂组件枢转地铰接着第二臂轴（31） - 联接在框架中，第二滑轮（32），其在第二臂轴中是固定的轴线，以便将驱动力传递到第二臂轴;第三滑轮（33），铰链连接到第二臂轴，第二滑轮铰接在第二臂轴上的旋转板（34）。

2. 发明授权

KR100858886B1 무한궤도 장력 조절장치 有权
标题翻译：用于CATERPILLAR的张力控制装置
公开(公告)号：KR100858886B1
公开(公告)日：2008-09-17
申请号：KR1020070083640
申请日：2007-08-20
申请人： 충남대학교산학협력단 , 주식회사 한백전자
发明人： 이지홍 , 권혁조 , 김두규 , 박성국 , 진수춘
IPC分类号： B62D55/30 , B62D55/08
摘要： A tension control device for a caterpillar is provided to return tension of the caterpillar into its original state when the tension of the caterpillar becomes weak by installing a tension maintenance unit in a frame. A tension control device for a caterpillar comprises a frame(10) formed with a guide groove(11), which is inclined toward a traveling direction, a moving plate(20) inserted into the guide groove to move back and forth relative to the guide groove, a wheel coupled to the moving plate to support an inner surface of the caterpillar, and a tension maintenance unit(40). The tension maintenance unit is fixed at the inside of the frame not to be exposed to the outside. The frame includes at least one guide rail(31), which is attached to the frame and is able to guide the moving plate.
摘要翻译：提供一种用于履带的张力控制装置，用于通过在框架中安装张力维持单元来使毛毛虫的张力变弱，使毛毛虫的张力恢复到原始状态。用于履带的张力控制装置包括：框架（10），其形成有朝向行进方向倾斜的引导槽（11），插入到引导槽中的移动板（20）相对于引导件前后移动凹槽，联接到移动板以支撑毛虫的内表面的轮，以及张力维持单元（40）。张力维持单元固定在框架内部，不暴露于外部。框架包括至少一个导轨（31），其被连接到框架并且能够引导移动板。

3. 发明公开

KR1020170080949A 4 바 링크 구조를 갖는 주행 차량(로봇)의 서스펜션 힘 추정 시스템 및 방법 无效
标题翻译：具有4杆连杆结构的行驶车辆（机器人）的悬架力估算系统和方法
公开(公告)号：KR1020170080949A
公开(公告)日：2017-07-11
申请号：KR1020150190991
申请日：2015-12-31
申请人： 충남대학교산학협력단
发明人： 김자영 , 이지홍 , 전봉수
IPC分类号： B60G17/018
摘要： 본발명은 4 바링크구조를갖는주행차량(로봇)의서스펜션힘 추정시스템및 방법이개시된다. 본발명에따르면, 차량(로봇)의서스펜션힘 추정을위해필요한초기측정치를입력하는단계, 본체를구동하여서스펜션에힘을가하는단계, 링크가움직이는각도를측정하는단계, 상기초기측정치및 링크가움직이는각도를저장하는단계, 저장된초기측정치와링크가움직이는각도를토대로서스펜션에가해진힘을연산하는단계및 연산된결과를출력하는단계를포함한다. 상기와같은본 발명에따르면, 복잡한과정의동역학적인분석을할 필요가없고, 고가의센서들을사용하지않고도쉽게차량(로봇)의서스펜션에가해지는힘을추정함으로써수직항력을계산할수 있게하는효과가있다.
摘要翻译：公开了一种用于具有四连杆结构的行驶车辆（机器人）的悬架力估计系统和方法。根据本发明，输入必要的用于车辆（机器人）的悬浮力估计的初始测量的步骤，驱动所述主体包括：功率下降到悬浮液中，该方法包括一个移动角度的链路测量和初始测量值和链接被移动存储角度，基于所存储的初始测量结果和链接移动的角度来计算施加到悬架的力，并输出计算结果。允许，根据如上述的本发明的效果，它是没有必要的复杂过程的动力学分析，可以通过估计成为力计算的法向力，该悬浮液中的高价格容易车辆（机器人）的，而无需使用传感器有。

4. 发明公开

KR1020100110188A 구형이동로봇 有权
标题翻译：球形手机机器人
公开(公告)号：KR1020100110188A
公开(公告)日：2010-10-12
申请号：KR1020090028639
申请日：2009-04-02
申请人： 충남대학교산학협력단 , 주식회사코어벨
发明人： 이지홍 , 권혁조 , 최희병 , 김자영 , 김대현 , 최종미 , 최훈
IPC分类号： B25J5/00 , B25J19/00
摘要： PURPOSE: A spherical mobile robot is provided to prevent damage to internal elements by enabling a spherical body, made of an elastic material, to absorb shocks when the spherical body is dropped. CONSTITUTION: A spherical mobile robot comprises a spherical body(1), a movable motor(2), a rotation motor(3), and a power supply device. A rotary shaft(11) is installed across the center of the spherical body. The movable motor protects the middle of the rotary shaft and is fixed to a rotating pipe(12). A driving rotary plate(22) of a movable motor transfers power to a driven rotary plate(22a) of the spherical body. The rotation motor is fixed to the bottom of a turning plate(13). The rotation motor rotates a driving unit(31). The driving unit circulates a rotation plate(31a). The power supply device supplies power to the motors.
摘要翻译：目的：提供球形移动机器人，通过使弹性材料制成的球体能够在球体下落时吸收冲击，防止内部元件损坏。构成：球面移动机器人包括球体（1），可动马达（2），旋转马达（3）和电源装置。旋转轴（11）横跨球体的中心安装。可移动电机保护旋转轴的中部并固定在旋转管（12）上。可动马达的驱动旋转板（22）将动力传递到球体的从动旋转板（22a）。旋转马达固定在转板（13）的底部。旋转马达旋转驱动单元（31）。驱动单元使旋转板（31a）循环。电源设备为电机供电。

5. 发明授权

KR100980368B1 탐사로봇용 암 어셈블리 有权
标题翻译：用于探索机器人的臂组件
公开(公告)号：KR100980368B1
公开(公告)日：2010-09-06
申请号：KR1020080072113
申请日：2008-07-24
申请人： 충남대학교산학협력단 , 주식회사코어벨
发明人： 이지홍 , 권혁조 , 김두규 , 박성국 , 김지용 , 최훈
IPC分类号： B25J18/00 , B25J5/00
摘要： 본 발명은 카메라가 탑재된 제 2링크암을 회전케이스의 암과, 회전암 및 제 1링크암을 통해 링크 연결시켜 상대적으로 작은 토크로 제 2링크암의 높이와 각도를 조절할 수 있는 구조의 탐사로봇용 암 어셈블리에 관한 것으로, 이를 위해 주행수단이 구비된 추진체와, 상기 추진체의 상부에 구비되어 내장된 제 1모터에 의해 회전하는 회전디스크와, 상기 회전디스크의 상부에 고정되는 고정케이스와, 상기 고정케이스를 가로질러 축결합되어 고정되는 고정축과, 상기 고정케이스와 대칭되게 배치되어 회전가능하도록 상기 고정축에 슬라이딩 결합되고, 측면에 고정된 제 2모터와 치차 결합되어 상기 고정축을 중심으로 회전하되, 외주변에는 암이 결합된 회전케이스와, 상기 고정케이스에 고정된 제 3모터와 치차 결합되어 상기 고정축을 중심으로 고정케이스의 측면에서 회전하는 회전암과, 상기 회전암의 단부에 링크 결합되는 제 1링크암과, 하단이 상기 제 1링크암과 링크 결합되고, 상기 제 1링크암 보다 상대적으로 높은 위치에 회전케이스의 암이 링크 결합된 제 2링크암을 포함하여 이루어지며, 상기 제 2링크암은 상단에 영상을 획득하는 카메라가 탑재되고, 회전암과 회전케이스에 의해 높이가 가변되는 것을 특징으로 한다.
탐사, 링크, 토크, 모터, 카메라, 암, 관절

6. 发明公开

KR1020170013472A 차량용 서스펜션 장치 无效
标题翻译：停车
公开(公告)号：KR1020170013472A
公开(公告)日：2017-02-07
申请号：KR1020150105977
申请日：2015-07-27
申请人： 충남대학교산학협력단 , 주식회사 하정
发明人： 김자영 , 이지홍 , 전봉수 , 김영진 , 조병만
IPC分类号： B60G17/0165 , B60G17/015
摘要： 본기술은차량용서스펜션장치가개시된다. 본발명의구체적인예에따르면, 각차륜의소정위치에마련된센서로부터공급된차륜의충격을흡수하기위한댐핑계수를설정하고설정된댐핑계수에대응되어설정된승강봉을구동하기위한제어신호를생성하여근거리통신망을통해댐퍼내에마련된모터로전송하며모터의회전운동을직선운동으로변환한변환된직선운동으로승강봉이승강되며승강길이에따라오리피스면적을조절하고차륜의충격에따라변동된유압에의해관통공으로유입된오일이면적이조절된오리피스로통과됨에따라차륜의충격량에따라댐핑계수가조절되어차륜의충격을완전하게흡수하여승차감을향상시킬수 있고, 설정된댐핑계수에대응되어기 설정된오리피스면적을조절하기위해차륜의충격에따라설정된댐핑계수에따라승강봉을구동하기위한모터의제어신호를근거리통신망을통해모터에공급함으로써댐핑계수를원격지에서실시간으로결정할수 있다.

7. 发明公开

KR1020100011064A 탐사로봇용 암 어셈블리 有权
标题翻译：用于探索机器人的ARM组件
公开(公告)号：KR1020100011064A
公开(公告)日：2010-02-03
申请号：KR1020080072113
申请日：2008-07-24
申请人： 충남대학교산학협력단 , 주식회사코어벨
发明人： 이지홍 , 권혁조 , 김두규 , 박성국 , 김지용 , 최훈
IPC分类号： B25J18/00 , B25J5/00
摘要： PURPOSE: An arm assembly for an exploration robot is provided to control the height and angle of a second link arm using low-torque. CONSTITUTION: An arm assembly(100) for an exploration robot comprises a driving body(10), a rotation disk(12), a fixed case(20), a fixing shaft, a rotating case(30), a rotating arm(40), a second link arm(50), and a second link arm(60). The driving body has wheels. The rotation disk is rotated by a first motor. The fixed case is fixed to the top of the rotation disk. The fixing shaft is shaft-combined through the fixed case. The rotating case is tooth-engaged with a second motor(31) and rotated around the fixing shaft. The rotating arm is tooth-engaged with a third motor(41) and rotated in the side surface of the fixed case. The first link arm is linked to the end of the rotating arm. The second link arm is linked to an arm(34) of the rotating case in a higher location than the first link arm.
摘要翻译：目的：提供用于探索机器人的臂组件，以使用低扭矩来控制第二连杆臂的高度和角度。构造：用于探测机器人的臂组件（100）包括驱动体（10），旋转盘（12），固定壳体（20），固定轴，旋转壳体（30），旋转臂（40）），第二连杆臂（50）和第二连杆臂（60）。驾驶体有车轮。旋转盘由第一马达旋转。固定外壳固定在旋转盘的顶部。固定轴通过固定壳体轴组合。旋转壳体与第二电动机（31）齿接合并围绕固定轴旋转。旋转臂与第三马达（41）齿啮合并在固定壳体的侧表面中旋转。第一连杆臂连接到旋转臂的端部。第二连杆臂在比第一连杆臂更高的位置处连接到旋转壳体的臂（34）。

8. 发明授权

KR100893004B1 뱀형 탐사로봇 有权
标题翻译： SNAKE型查询机器人
公开(公告)号：KR100893004B1
公开(公告)日：2009-04-10
申请号：KR1020070110313
申请日：2007-10-31
申请人： 충남대학교산학협력단 , 주식회사코어벨
发明人： 이지홍 , 권혁조 , 오상진 , 최훈
IPC分类号： B25J5/00
摘要： A snake-like probe robot is provided to save the energy by using the endless track assembly in which the separate drive is possible in four directions of frame. A snake-like probe robot comprises a frame(110) of the rectangular parallelepiped, an endless track assembly which is driven respectively in four directions of frame, and a driving module(100) consisting of a fan motor(130) combined in the front / rear surface of frame or a tilt motor(140). Each endless track assembly includes a left and a right bearing plate supporting a driven and a driving pulley, a bottom-supporting plate, a driving motor, two fixing blocks, a belt connecting an auxiliary driving pulley with a driving pulley and providing the driving force, a tension control unit installed at driving motor, and an endless track covering a driven and a driving pulley.
摘要翻译：提供蛇形探针机器人，以通过使用环形轨道组件来节省能量，其中可以在框架的四个方向上进行单独的驱动。蛇形探针机器人包括长方体的框架（110），分别在框架的四个方向上驱动的环形轨道组件和由前面组合的风扇马达（130）组成的驱动模块（100） /后表面或倾斜电机（140）。每个环形轨道组件包括支撑从动和驱动滑轮的左右支承板，底部支撑板，驱动电机，两个固定块，将辅助驱动滑轮与驱动滑轮连接并提供驱动力，安装在驱动电动机上的张力控制单元，以及覆盖被驱动和驱动滑轮的环形轨道。

9. 发明授权

KR101365291B1 오브젝트의 위치 추정 방법 및 장치 有权
标题翻译：用于估计对象位置的方法和装置
公开(公告)号：KR101365291B1
公开(公告)日：2014-02-19
申请号：KR1020120137680
申请日：2012-11-30
申请人： 충남대학교산학협력단
发明人： 이지홍 , 박경민 , 김희중
IPC分类号： G01S5/02
摘要： The present invention relates to a method for estimating a location of an object, including the processes of: acquiring an image from a photographing part photographing an image reflected from a nonplanar mirror reflecting an image from the forward direction; identifying a pattern of a specific land mark from a pattern of at least two adjacent land marks in the acquired image; acquiring first positioning information by estimating an absolute location coordinate value of a currently located object through angle of arrival (AoA) method using angle information per land mark which is an angle of arrival formed with the identified land mark around the photographing part; acquiring second positioning information by estimating an absolute location coordinate value of the currently located object through time of arrival (ToA) method using time information per radio wave transmitting device which is an arrival time of a signal transmitted to the radio wave receiving device of the object from a plurality of radio wave transmitting devices dispersed at a previously set position in a network where the object is located; and calculating final positioning information of the object by filtering the first positioning information and the second positioning information. [Reference numerals] (110) Obtain image; (112) Identify land mark; (114) Acquire first positioning information; (116) Acquire second positioning information; (118) Re-queue second positioning information per radio wave transmitter gathering to first positioning information; (120) Select radio wave transmitter corresponding priority; (122) Compare with first positioning information coordinate value; (124) Equal to or above pre-set distance?; (126) Acquire/compare dispersion or standard deviation of selected radio wave transmitter; (127) Select excellent dispersion and correct middle value; (128) Delete second positioning information; (130) Correct first positioning information; (132) Calculate final positioning information; (AA) START; (BB) Select excellent dispersion and correct middle value; (CC) NO; (DD) YES; (EE) END
摘要翻译：本发明涉及一种用于估计对象位置的方法，包括以下处理：从拍摄从反方向反射图像的非平面镜反射的图像的摄影部分获取图像; 从所获取的图像中的至少两个相邻地面标记的图案识别特定地面标记的图案; 通过使用作为与拍摄部分周围的识别的地面标记形成的到达角的每个地面标记的角度信息，通过使用到达角度（AoA）方法估计当前定位的物体的绝对位置坐标值来获取第一定位信息; 通过使用到每个无线电波发送装置的时间信息（ToA）方法来估计当前所在对象的绝对位置坐标值（ToA）方法来获取第二定位信息，该无线电波发送装置是发送到对象的无线电波接收装置的信号的到达时间从分散在物体所位于的网络中的先前设定位置的多个无线电波发送装置，以及通过过滤所述第一定位信息和所述第二定位信息来计算所述对象的最终定位信息。（附图标记）（110）获得图像; （112）确定地标; （114）获取第一定位信息; （116）获取第二定位信息; （118）将每个无线电波发射机收集的第二定位信息重新排队到第一定位信息; （120）选择无线电波发射机对应的优先级; （122）与第一定位信息坐标值进行比较; （124）等于或大于预设距离？（126）获取/比较所选无线电波发射机的色散或标准偏差; （127）选择优异的分散性和正确的中间值; （128）删除第二定位信息; （130）正确定位信息; （132）计算最终定位信息; （AA）开始; （BB）选择优异的分散性和正确的中间值; （CC）NO; （DD）是; （EE）END

10. 发明授权

KR101316524B1 전방향 비전 센서를 이용한 오브젝트의 위치 추정 방법 및 장치 有权
标题翻译：使用OMNIDIRECECT VISION SENSOR在物体中估算位置的方法和装置
公开(公告)号：KR101316524B1
公开(公告)日：2013-10-08
申请号：KR1020130000613
申请日：2013-01-03
申请人： 충남대학교산학협력단
发明人： 이지홍 , 김희중 , 박경민
IPC分类号： G01S17/06 , G01S17/02
摘要： PURPOSE: A method and a device of estimating the location of an object with an omnidirectional vision sensor reduce costs and stably recognize a location by using all objects with color as a land mark. CONSTITUTION: A device of estimating the location of an object with an omnidirectional vision sensor includes a non-planar mirror (512), a subsidiary non-planar mirror (514), a photographing part (516), and a control part (518). The non-planar mirror reflects an omnidirectional image. The subsidiary non-planar mirror is placed on a straight-line distance of the non-planar mirror. The photographing part photographs the image reflected from the non-planar mirror or the subsidiary non-planar mirror. The control part identifies specific land marks in each of the images obtained from the photographing part by mirror through an identification part and estimates an absolute location coordinate value of the current location of the object with an angle of arrival (AoA) method by controlling a first positioning operation part. The control part obtains first positioning information and computes the final positioning information of the object using the first positioning information or predetermined distance information between the non-planar mirrors or the subsidiary non-planar mirrors based on a specific pattern formed by the non-planar mirror or the subsidiary non-planar mirror around the land mark. [Reference numerals] (512) Non-planar mirror; (514) Subsidiary non-planar mirror; (516) Photographing part; (518) Control part; (AA) Pairing part; (BB) Identification part; (CC) First flank calculation part; (DD) Final flank part
摘要翻译：目的：使用全向视觉传感器估计物体的位置的方法和装置通过使用具有颜色的所有物体作为地面标记来降低成本并稳定地识别位置。构成：使用全向视觉传感器估计物体的位置的装置包括非平面镜（512），辅助非平面镜（514），拍摄部分（516）和控制部分（518）。非平面镜反射全向图像。辅助非平面镜被放置在非平面镜的直线距离上。拍摄部分拍摄从非平面镜或辅助非平面镜反射的图像。控制部分通过识别部分通过反射镜识别从拍摄部分获得的每个图像中的特定地面标记，并通过控制第一（A）方法来估计物体的当前位置的绝对位置坐标值（AoA）定位操作部分。控制部分基于由非平面镜形成的特定图案，使用第一定位信息或非平面镜或副非平面镜之间的预定距离信息来获得第一定位信息并计算对象的最终定位信息或地标附近的非平面镜。（附图标记）（512）非平面镜; （514）辅助非平面镜; （516）摄影部分; （518）控制部分; （AA）配对部分; （BB）识别部分; （CC）第一侧面计算部分; （DD）最终侧面部分

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