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1. 发明授权

KR101299134B1 다수 로봇의 협력을 통한 동적 환경에서의 동적 목표물 탐색 시스템 및 방법 有权
标题翻译：通过合作进行动态移动目标的搜索系统和方法
公开(公告)号：KR101299134B1
公开(公告)日：2013-08-22
申请号：KR1020120027893
申请日：2012-03-19
申请人： 한국과학기술연구원
发明人： 김창환 , 김남훈 , 박귀태 , 강연식 , 임헌영 , 권민혁
IPC分类号： B25J9/16 , G05B19/418 , G05D1/12
CPC分类号： Y02P90/02
摘要： PURPOSE: A system and a method to explore a dynamic target object in a dynamic circumstance through the cooperation of a plurality of robots are provided to explore a target object by displaying the position of the target object using only speed information of the object in case only initial position of the dynamic target object is known. CONSTITUTION: A system (1) to explore a dynamic target object in a dynamic circumstance comprises a robot (40), a target object modeling unit (10), a route planning unit (20), and a control unit (30). One or more robots are formed to explore the dynamic target object. The target object modeling unit displays a target object area expanded according to the time on a grid map in which is previously built. The route planning unit calculates a predictive route where one or more robot can be moved for the predetermined time on the grid map. The route planning unit plans a route to explore based on the target object area which is displayed in the target object modeling unit and the calculated predictive route. The control unit controls the robot to move according to the route in which the route planning unit plans. [Reference numerals] (10) Target object modeling unit; (20) Route planning unit; (30) Control unit; (40) Robot
摘要翻译：目的：通过多个机器人的协作，在动态环境中探索动态目标对象的系统和方法被提供以通过仅在仅仅情况下仅使用对象的速度信息来显示目标对象的位置来探索目标对象已知动态目标对象的初始位置。构成：在动态环境中探索动态目标对象的系统（1）包括机器人（40），目标对象建模单元（10），路线规划单元（20）和控制单元（30）。形成一个或多个机器人来探索动态目标对象。目标对象建模单元根据先前构建的网格图上的时间显示扩展的目标对象区域。路线规划单元计算在网格图上可以移动预定时间的一个或多个机器人的预测路线。路线规划单元根据目标对象建模单元中显示的目标对象区域和计算出的预测路线来计划探索路线。控制单元控制机器人根据路线规划单元计划的路线移动。（附图标记）（10）目标对象建模单元; （20）路线规划单位; （30）控制单元; （40）机器人

2. 发明授权

KR100471653B1 내시경 시스템 失效
标题翻译：内窥镜系统
公开(公告)号：KR100471653B1
公开(公告)日：2005-03-10
申请号：KR1020020046392
申请日：2002-08-06
申请人： 한국과학기술연구원
发明人： 김병규 , 정연구 , 임헌영 , 김태송 , 박종오
IPC分类号： A61B1/00
CPC分类号： A61B1/00147 , A61B1/00039 , A61B1/00048 , A61B1/00096 , A61B1/0055 , A61B1/05
摘要： 본 발명은 내시경 시스템에 관한 것으로서, 일측에는 카메라장치가 장착된 헤드부가 설치되고, 타측에는 인체 외부의 외부장치와 연결되는 튜브와 연결되는 중공형의 실린더부와, 상기 헤드부와 연결되고 상기 실린더부의 외주에 설치되어 장기의 내벽에 고정 가능한 전방고정부와, 상기 실린더부의 외주면에 슬라이딩 가능하도록 상기 실린더부의 외주에 설치되어 장기의 내벽에 고정 가능한 후방고정부와, 상기 전방고정부 또는 후방고정부가 상기 헤드부를 장기의 내벽에 고정시킬 때, 상기 전방고정부와 후방고정부 사이에 연결 설치되어, 신장/수축에 의하여 상기 헤드부를 장기의 내부에서 이동시키는 이동부를 포함하는 몸체를 가지는 것을 특징으로 하는 내시경 시스템을 제공한다.

3. 发明公开

KR1020040013462A 내시경 시스템 失效
标题翻译：内窥镜系统
公开(公告)号：KR1020040013462A
公开(公告)日：2004-02-14
申请号：KR1020020046392
申请日：2002-08-06
申请人： 한국과학기술연구원
发明人： 김병규 , 정연구 , 임헌영 , 김태송 , 박종오
IPC分类号： A61B1/00
CPC分类号： A61B1/00147 , A61B1/00039 , A61B1/00048 , A61B1/00096 , A61B1/0055 , A61B1/05
摘要： PURPOSE: An endoscope system is provided to achieve improved use convenience by forming a hollow cylinder in the main body of the endoscope so as to allow diagnosis devices to be mounted in the hollow cylinder. CONSTITUTION: An endoscope system comprises a hollow cylinder having an end with a head portion(100) mounted with a camera and the other end connected to a tube(210) connected to an external device; a front fixing portion(310) connected to the head portion and arranged along the outer surface of the cylinder in such a manner that the front fixing portion is fixed at the inner wall of the organ of the patient; a rear fixing portion(320) arranged along the outer surface of the cylinder in such a manner that the rear fixing portion is slidable and fixed at the inner wall of the organ of the patient; and a main body having a movable portion(330) connected between the front fixing portion and the rear fixing portion in such a manner that the movable portion moves the head portion in the organ through the extension/contraction motion.
摘要翻译：目的：提供一种内窥镜系统，以通过在内窥镜的主体中形成中空圆柱来实现改善的使用便利性，以便允许将诊断装置安装在中空圆筒中。构成：内窥镜系统包括具有端部的中空圆筒，头部具有安装有照相机的头部（100），另一端连接到连接到外部设备的管（210）; 前固定部（310），其连接到头部并且沿着所述圆筒的外表面以使得所述前固定部固定在所述患者的器官的内壁上的方式; 沿着所述圆筒的外表面布置的后固定部分（320），使得所述后固定部分可滑动并固定在患者的器官的内壁上; 以及主体，其具有连接在前固定部分和后固定部分之间的可移动部分（330），使得可移动部分通过延伸/收缩运动移动器官中的头部。

4. 发明授权

KR101107222B1 이동 로봇 및 그 제어 방법 有权
标题翻译：移动机器人及其控制方法
公开(公告)号：KR101107222B1
公开(公告)日：2012-01-25
申请号：KR1020090092999
申请日：2009-09-30
申请人： 한국과학기술연구원
发明人： 곽재혁 , 강현덕 , 김창환 , 강연식 , 임헌영 , 정수영
IPC分类号： B25J13/08 , B25J9/16 , B25J5/00
摘要： 본 발명은 본체와, 일단이 상기 본체에 회전 가능하게 장착되며 타단이 회전 가능한 휠에 연결된 복수의 암들과, 상기 본체에 장착되며 상기 각각의 암들에 토크를 인가하는 액츄에이터들과, 상기 본체의 주행 중 상기 본체에 대한 상기 암들의 각도를 센싱하는 각도센서, 및 상기 암들이 가상 스프링과 같은 형태로 구현되도록 상기 각도센서로부터 검출된 각도들을 근거로 상기 액츄에이터들의 토크를 제어하는 컨트롤러를 포함하는 이동 로봇 및 그 제어방법을 개시한다.

5. 发明公开

KR1020110035334A 이동 로봇 및 그 제어 방법 有权
标题翻译：移动机器人及其控制方法
公开(公告)号：KR1020110035334A
公开(公告)日：2011-04-06
申请号：KR1020090092999
申请日：2009-09-30
申请人： 한국과학기술연구원
发明人： 곽재혁 , 강현덕 , 김창환 , 강연식 , 임헌영 , 정수영
IPC分类号： B25J13/08 , B25J9/16 , B25J5/00
摘要： PURPOSE: A mobile robot and control method thereof are provided to improve the movement performance of the mobile robot by dispersing the contact force between the ground and robot wheel. CONSTITUTION: A mobile robot comprises a main body(110), a plurality of arms(120), an actuator, an angle sensor, and a controller. One end of the arm is mounted on the main body to rotate, and the other end of the arm is connected to a wheel(130). The actuators apply torque to each arm. The angle sensor senses the angle of the arms about the main body in the driving of the main body. The controller controls the torque of the actuator based on the angles which are detected by thee angle sensor in order to make the arms to actuate like a virtual spring.
摘要翻译：目的：提供一种移动机器人及其控制方法，通过分散地面和机器人轮之间的接触力来提高移动机器人的运动性能。构成：移动机器人包括主体（110），多个臂（120），致动器，角度传感器和控制器。臂的一端安装在主体上以旋转，并且臂的另一端连接到轮（130）。执行器对每个臂施加扭矩。角度传感器在主体的驱动中感测臂周围主体的角度。控制器基于由角度传感器检测的角度来控制致动器的扭矩，以使臂像虚拟弹簧一样致动。

6. 发明公开

KR1020040110567A 도구시스템 失效
标题翻译：工具系统，包括固定部分插入到导管中，以至于固定主体工具系统在物体上的物体部分
公开(公告)号：KR1020040110567A
公开(公告)日：2004-12-31
申请号：KR1020030039920
申请日：2003-06-19
申请人： 한국과학기술연구원
发明人： 김병규 , 정연구 , 이영표 , 임헌영 , 권지운 , 이기우 , 박종오
IPC分类号： A61B1/00
摘要： PURPOSE: A tool system is provided to install a tool for diagnosis and/or treatment in organs of human body in a simple way. CONSTITUTION: A tool system comprises a main body(100) where tools for diagnosis and/or treatment are mounted, and has a fixing portion accommodation portion; a guide pipe coupled to the main body; a fixing portion lead-out line inserted into the guide pipe; and a fixing portion fixed at an end of the fixing portion lead-out line, and accommodated in the fixing portion accommodation portion of the main body. The fixing portion is drawn by the lead-out line, such that a certain part of the fixing portion inserted into the guide pipe. When the fixing portion is partially inserted into the guide pipe by the drawing of the lead-out line, the fixing portion fixes the main body by picking a part of an object(1) at which the main body is to be fixed.
摘要翻译：目的：提供一种工具系统，以简单的方式安装用于人体器官诊断和/或治疗的工具。构成：工具系统包括安装用于诊断和/或治疗的工具的主体（100），并且具有固定部容纳部分; 连接到主体的导管; 插入导管中的固定部引出线; 以及固定部，固定在固定部引出线的端部，并且容纳在主体的固定部容纳部中。固定部分由引出线拉出，使得固定部分的一部分插入导管中。当通过引出线的拉出将固定部分部分地插入引导管中时，固定部分通过拾取要固定主体的物体（1）的一部分来固定主体。

7. 发明公开

KR1020020094528A 마이크로 로봇 失效
标题翻译：微型机器人
公开(公告)号：KR1020020094528A
公开(公告)日：2002-12-18
申请号：KR1020010032798
申请日：2001-06-12
申请人： 한국과학기술연구원
发明人： 김병규 , 김경대 , 임헌영 , 박종오
IPC分类号： A61B1/00
摘要： PURPOSE: A micro robot is provided to achieve a simple and efficiency structure, while allowing ease of manufacture and cost and size reduction. CONSTITUTION: A micro robot comprises a main body; a motor(2) serving as a driving member and which is mounted within the main body; a worm(1) serving as a rotating force transfer unit, and which is mounted within the main body and transfers the force generated from the motor; a motion converting unit mounted to the main body, and which operates by the force transferred from the rotating force transfer unit, and has an eccentric shaft(17); and a plurality of legs(10) each of which has an end(10a) connected to the eccentric shaft of the motion converting unit and the other end(10b) performing elliptic motion by a guide member. The motion converting unit includes a disk(9) where the eccentric shaft is attached; gears(5,6) engaged with the worm, and which rotate the disk; and a plurality of gear boxes disposed along the circumference of the main body so as to fix the disk and gears to be rotatable.
摘要翻译：目的：提供微型机器人，以实现简单而高效的结构，同时可以方便生产，降低成本和减小尺寸。构成：微型机器人包括主体; 用作驱动构件并安装在主体内的马达（2）; 用作旋转力传递单元的蜗杆（1），并且安装在主体内并传递从马达产生的力; 运动转换单元，其安装在主体上，并且通过从旋转力传递单元传递的力进行操作，并具有偏心轴（17）; 以及多个腿部（10），每个腿部具有连接到运动转换单元的偏心轴的端部（10a），另一端（10b）由引导构件执行椭圆形运动。运动转换单元包括安装偏心轴的盘（9）; 齿轮（5,6）与蜗杆接合，并使盘旋转; 以及沿着主体的圆周布置的多个齿轮箱，以便将盘和齿轮固定成可转动。

8. 发明授权

KR101132713B1 이동로봇의 이동 제어장치, 이를 구비하는 이동로봇 시스템 및 이동로봇의 이동 제어방법 有权
标题翻译：用于控制机器人移动的装置，具有该机器人的移动机器人系统和用于控制移动机器人的方法
公开(公告)号：KR101132713B1
公开(公告)日：2012-04-06
申请号：KR1020090092890
申请日：2009-09-30
申请人： 한국과학기술연구원
发明人： 김창환 , 강현덕 , 강연식 , 곽재혁 , 임헌영 , 정수영
IPC分类号： B25J13/08 , G05D1/02 , B25J5/00
摘要： PURPOSE: A movement control device and method of mobile robot and a mobile robot system having the same are provided to calculate the location information of a mobile robot by using geometric information which is made by mobile robots and a reference spot. CONSTITUTION: A movement control method of mobile robot is as follows. Geographic information is detected by a sensor(121) of a first mobile robot(111). The reference spot is extracted from the geographic information to calculate the first location information between the first mobile robot and reference spot. The second location information between a second mobile robot(112) and the reference spot is calculated by using the geographic information detected by a sensor(122) of the second mobile robot. The relative location information between the first and second mobile robots is detected by using the first and second location information. The second mobile robot is moved by using at least one of first and second location information and relative location information in order to keep mobile robots in a pre-set formation.

9. 发明公开

KR1020110035258A 이동로봇의 이동 제어장치, 이를 구비하는 이동로봇 시스템 및 이동로봇의 이동 제어방법 有权
标题翻译：用于控制机器人移动的装置，具有该机器人的移动机器人系统和用于控制移动机器人的方法
公开(公告)号：KR1020110035258A
公开(公告)日：2011-04-06
申请号：KR1020090092890
申请日：2009-09-30
申请人： 한국과학기술연구원
发明人： 김창환 , 강현덕 , 강연식 , 곽재혁 , 임헌영 , 정수영
IPC分类号： B25J13/08 , G05D1/02 , B25J5/00
摘要： PURPOSE: A movement control device and method of mobile robot and a mobile robot system having the same are provided to calculate the location information of a mobile robot by using geometric information which is made by mobile robots and a reference spot. CONSTITUTION: A movement control method of mobile robot is as follows. Geographic information is detected by a sensor(121) of a first mobile robot(111). The reference spot is extracted from the geographic information to calculate the first location information between the first mobile robot and reference spot. The second location information between a second mobile robot(112) and the reference spot is calculated by using the geographic information detected by a sensor(122) of the second mobile robot. The relative location information between the first and second mobile robots is detected by using the first and second location information. The second mobile robot is moved by using at least one of first and second location information and relative location information in order to keep mobile robots in a pre-set formation.
摘要翻译：目的：提供一种移动机器人的移动控制装置和方法及具有该移动机器人的移动机器人系统，通过使用由移动机器人和参考点形成的几何信息来计算移动机器人的位置信息。构成：移动机器人的移动控制方法如下。地理信息由第一移动机器人（111）的传感器（121）检测。从地理信息中提取参考点，以计算第一移动机器人和参考点之间的第一位置信息。通过使用由第二移动机器人的传感器（122）检测到的地理信息来计算第二移动机器人（112）和参考点之间的第二位置信息。通过使用第一和第二位置信息来检测第一和第二移动机器人之间的相对位置信息。通过使用第一和第二位置信息和相对位置信息中的至少一个来移动第二移动机器人，以便将移动机器人保持在预先设定的形成中。

10. 发明授权

KR100567392B1 도구시스템 失效
标题翻译：工具系统
公开(公告)号：KR100567392B1
公开(公告)日：2006-04-04
申请号：KR1020030039920
申请日：2003-06-19
申请人： 한국과학기술연구원
发明人： 김병규 , 정연구 , 이영표 , 임헌영 , 권지운 , 이기우 , 박종오
IPC分类号： A61B1/00
摘要： 본 발명은 도구시스템에 관한 것으로서, 보다 상세하게는 인체의 식도, 내장 등에서 진단 및/또는 치료를 위하여 진단/치료 도구를 고정시킬 수 있는 도구시스템에 관한 것으로서, 본 발명에 따른 도구시스템은 도구가 탑재되고 고정부 수용부를 가지는 본체와; 상기 본체에 결합된 유도관과; 상기 유도관에 삽입되는 고정부 인출선과; 상기 고정부 인출선의 끝단에 고정되어 상기 고정부 수용부에 수용되는 고정부를 포함하며, 상기 고정부는 상기 인출선에 의하여 당겨지면서 그 일부가 상기 유도관에 삽입되고, 상기 유도관에 삽입되면서 상기 본체를 고정시키고자 하는 대상의 일부를 집어서 상기 본체를 고정시키는 것을 특징으로 한다.

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