• 대한토목학회논문집
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• 제26권3D호
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• pp.367-374
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• 2006

본 연구에서는 국내 철도건널목의 지장물 검지 시스템 및 차단제어 시스템의 운영현황을 살펴봄으로써 기존 시스템의 문제점을 보완할 수 있는 새로운 건널목 제어시스템 및 알고리즘을 제시한다. 국내 건널목 제어시스템의 경우 차량 및 지장물 검지를 통해 단순 입구측 및 출구측을 제어하는 방식으로서 도로 교통과는 연계를 하지 못하고 있는 실정이다. 또한 검지시스템과 차단시스템의 신호연계체계의 미비로 인하여 비효율적이며 안전성이 결여된 건널목 운영을 보이고 있다. 본 연구에서는 보다 효율적인 건널목 운영을 위하여 지자계 검지센서와 레이저 검지센서를 통합한 철도 건널목 지장물 진입위반차량 검지시스템과 4분할차단기 알고리즘을 제시하였고, 현장시험을 통하여 본 연구에서 제시한 알고리즘의 신뢰성을 검증하였다. 그 결과 본 연구에서 개발되어진 시스템들은 철도 건널목 제어기기들간의 상호연계가 가능하며, 동시에 차량운전자의 운행 형태를 고려한 차단제어 방식으로 열차와의 충돌사고를 예방할 수 있으리라 기대되어진다.

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.575-576
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• 2009

• Agricultural and Biosystems Engineering
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• 제2권2호
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• pp.69-74
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• 2001

Detection of operation lines in farm works, object recognition and obstacle avoidance are essential pre-requisite technologies for unmanned agricultural machinery. A CCD camera, which has been largely used for these functions, is expensive and has difficulty in real-time signal processing. In this study, a laser range sensor was selected as the guiding vision for unmanned agricultural machinery such as a tractor. To achieve this capability, algorithms for distance measurement, signal filtering, object recognition, and obstacle avoidance were developed. Computer simulations were carried out to evaluate performance of the algorithms. Experiments were also conducted with various materials and shapes, Laser beam lost its intensity for poor reflective materials, resulting in less range value than actual, so a compensation technique was considered to be necessary. Object detection system was fabricated on an agricultural tractor and the performance was evaluated. As test result for obstacle detection and avoidance in field, to detect and avoid obstacle for path finding with guiding system for unmanned agricultural machinery was enable.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1009-1018
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• 2003

In a park or street, we can see many people Jogging or walking with their dogs chasing their masters. In the previous study, an entertainment robot, CARTRI that imitates the dog's behavior was created. The robot's task was chasing a moving goal that was recognized as the master. The physical structure of the CARTRI robot was three-wheel type locomotion system. The sensor system which could detect the position of the master in the outdoor space, was consists of a signal transmitter which was held by the master and five ultrasonic receivers which were mounted on the robot. In the experiment, the robot could chase a human walking in outdoor space like a park. But it could not avoid obstacles and its behavior was only goal-chasing behavior because of the limit of the sensor system. In this study, an improved RF-ultrasonic sensor system which can detect both goal and obstacle is developed in order to enable the CARTRI robot to carry out various behavior. The sensor system has increased angle resolution by using eight ultrasonic receivers instead of five in the previous study. And it can detect obstacle by using reflective type ultrasonic sensors. The sensor system is designed so that detection of goal and obstacle could be conducted in one sampling period. The Performance of the developed sensor system is evaluated through experiments.

• 로봇학회논문지
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• 제3권3호
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• 전기학회논문지
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• 제62권12호
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• pp.1813-1819
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• 2013

Existing level crossing obstacle detecting system was installed using a laser beam. Level crossing obstacle detecting system using a laser beam that has been a problem in relation to safety and maintainability failure according to weather conditions. We proposed laser radar level crossing obstacle detecting system as a way to overcome problem, and we developed an algorithm for this. Level crossing obstacle detecting system using a laser radar sensor algorithm is robust to external environment and a shadow zone does not exist. Sensor part of the laser radar level crossing obstacle detecting system of these is made up by the image processing unit and laser radar sensor, it operations by receiving train entering information from the control unit. In this paper, we proposed a detecting algorithm with calculation of the size of the laser radar sensor. Based on this, we were performance test on the basis of the scenario by making a prototype. In the future, laser radar level crossing obstacle detecting system to ensure the safety and reliability through the field test.

• 대한의용생체공학회:의공학회지
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• 제29권5호
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• pp.384-391
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• 2008

For use in the guide system for the people who are visually impaired, an obstacle searching device using synchronous ultrasonic wave emission was proposed and developed. Generally, the conventional obstacle detection methods use the ultrasonic distance measuring device with successive scan method. However, the scan method causes a theoretical error and it couldn't estimate accurate obstacle distances. The proposed synchronous firing method use the plural number of ultrasonic sensors which emit ultrasonic wave simultaneously and estimate the distance to the closest obstacle relatively accurately. We analytically analyzed the errors of the conventional and proposed methods and compared the quantitative differences of the errors. The differences verified by obstacle search experiments. Using the proposed ultrasonic wave synchronous firing method, 3 dimensional obstacle location estimating device was designed and implemented. The results of the 3 dimensional obstacle detecting experiments showed the proposed method had good performances and it would be sufficiently use in the guide system for the people who are visually impaired.

• 한국항공운항학회지
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• 제5권1호
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• pp.65-79
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• 1997

본 연구에서는 항공기의 지상활주에 필요한 측방 경보장치를 구현 하였다. 장치는 장애물 검출부, 송신부, 수신부, 그리고 경보부로 구성하였다. 장애물 검출부는 40KHz대의 초음파에 의한 펄스비행법을 채택하였고 송/수신부는 447 MHz 대의 RF모듈을 사용하였다. 경보부는 컴퓨터를 사용하여 수신된 거리 데이터로부터 경보를 한다. 검출장치는 주날개의 좌우측 끝과 수평 안정판의 좌/우측 끝에 장착한다. 장애물 검출거리는 10m로 설정하였다. 실험 결과 만족한 결과를 얻을 수 있었다.

• 전기학회논문지
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• 제60권7호
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• pp.1444-1450
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• 2011

An analysis of the causes of railroad crossing accidents reveals that most train collision accidents that occur when safety crossing devices are functioning normally occur because vehicles either experience engine failure on the tracks or because drivers were not notified of the coming train, in which case they get trapped on the tracks when the crossing barriers descend. To prevent such an accident, obstacle detection device by using laser beams detecting the presence of obstacle and crossing bar direction controller by moving direction detection sensor using the Earth's magnetic field detection technology are used in the railroad crossing. Despite using the obstacles detector and crossing bar direction controller in the railroad crossing, the equipments for the railroad crossing does not prevent accidents completely. Therefore, this research has studied new method that can detect obstacles through image analyze and alternate existing equipments. There will be excellent effect to be preventing railroad crossing accident by developing a reliable and new obstacle detecting device.