Tilt-rotor multicopter smart drone with tilting arm posture control

This technology is a tilt-rotor multicopter mechanism that connects some of the propellers arranged radially on the airframe to a robotic arm-style tilting motor unit, allowing the rotation angle of the propellers to be variably controlled between vertical (for takeoff and landing) and horizontal (for high-speed flight) depending on the flight state.

While conventional rotary-wing drones are capable of vertical takeoff and landing, they must tilt significantly during high-speed flight, creating a trade-off between maintaining stability and achieving high speeds when transporting cargo.

By equipping some of the six propellers with Dynamixel (robotic joint motors) and tilting arms to control the angle of the fixed motor units, this technology maintains vertical takeoff and landing capabilities while maximizing horizontal thrust to achieve speeds comparable to fixed-wing aircraft.

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Key Features:

• A flight control unit positioned at the center to manage flight, and a connecting frame that links the components in a radially symmetrical structure.
• Multiple pairs of propellers located at the ends, and fixed motors that rotate each propeller.
• A tilting arm that tilts the pair of fixed motor units forming the horizontal axis in a robotic arm configuration, and a tilting motor that controls the angle of inclination.
• A flight control unit that adjusts the fixed motor units to a vertical position for normal mode and a horizontal position for high-speed mode.

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Motion processing system for regenerating motion using NURBS curve modeling

This technology models an object's motion data using NURBS (Non-Uniform Rational B-Splines) equations to generate multiple curves that share a time axis, and controls the motion of the object by adjusting control points and weights to regenerate and synchronize the motion.

Conventional spline-based motion modeling is vulnerable to measurement noise and makes it difficult to modify or precisely control modeled curves for specific purposes.

This technology builds a NURBS-based model from motion measurements and applies parameter increment calculations and interpolation to adjust control points and weights in real-time, enabling precise control of the object's position, velocity, and torque while maintaining a shared time axis.

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Key Features:

• A motion measurement unit including multiple motion sensors that measure the motion of an object and different types of motion.
• A motion modeling unit that models motion using NURBS equations based on the measured motion data.
• A motion generation unit that regenerates the object's motion by adjusting the NURBS equations modeled by the motion modeling unit.
• A motion modeling unit including multiple NURBS equations that are individually linked to each motion sensor to model different motions.

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Wall-climbing robot system with precision cylinder position correction

This technology consists of a wall-climbing work robot and a mother robot that houses it. It improves work precision by using a plurality of cylinders positioned between the first and second support rings inside the work robot to precisely adjust the position of the work unit.

Conventional aerial work lifts pose high safety risks and suffer from low productivity, while existing wall-climbing robots struggle to ensure work quality due to the difficulty of achieving precise position correction within the work area.

This technology creates an open space in the work body and uses a control unit to drive variable-length cylinders based on camera imagery, aligning the work unit with the target area. It can be applied to ship painting, large-scale structural welding, and exterior wall repairs, eliminating the risks of working at heights while maintaining consistent work quality.

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Key Features:

• A work robot capable of independent movement that can be mounted within a mother robot and connected via cable
• A work robot configured to include a work body and a first drive unit for moving the work body
• A work unit connected by a cable and configured to perform specific tasks on a wall surface
• A second drive unit installed on the work body to support the work unit and adjust its position

Obstacle-surmounting robot with variable height via inclined rotation axes and driving units of different lengths

This technology features driving modules on both sides of the robot body, each equipped with first and second driving units of different lengths that rotate around an inclined axis. This allows the robot to adjust its driving height by switching and rotating the driving units, maintaining its center of gravity while navigating obstacles.

Conventional wheeled robots faced structural limitations where increasing wheel radius to overcome obstacles raised the center of gravity, thereby reducing driving stability.

This technology overcomes obstacles without raising the center of gravity by tilting the rotation axis downward and using a drive motor to rotate driving units of varying lengths, effectively changing the ground contact position. Applicable to exterior wall cleaning robots and outdoor patrol robots, it provides high-performance obstacle traversal while maintaining stability.

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Key Features:

• Driving modules provided on the left and right sides of a body with a defined volume
• A rotating member rotatably connected to the body by a rotation axis and coupled to said axis
• A first driving unit extending from one side of the rotating member at a first inclination angle in a direction away from the rotation axis
• A second driving unit extending from one side of the rotating member at a second inclination angle in a direction away from the rotation axis

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This invention was developed with support from the Ministry of Science and ICT for the development of AI-based adaptive control algorithms for various types of exterior wall cleaning robots.

Flying robot with flight angle control based on solar cells

This technology is a system that maximizes the power generation efficiency of solar cells mounted on the top of a flying robot. It adjusts the flight attitude in real-time to remain perpendicular to sunlight by controlling the rotor drive angle and wing angle based on data from solar incidence sensors and wind direction/speed sensors.

The limited capacity of batteries built into flying robots makes long-term missions difficult. Even when solar charging is adopted, the power generation efficiency of the solar cells decreases depending on the flight attitude, and the flight path can become unstable.

This technology utilizes independent vertical swing control of the left and right wings and rotors that can rotate independently of the wings. It features a flight angle control algorithm and structure that maintains the flight path using wind direction and speed data while adjusting the flight attitude to keep the solar incidence angle perpendicular to the solar cell surface. Applicable to unmanned exploration, surveillance, and environmental monitoring, it improves service time and energy security, maximizes generation efficiency, and optimizes solar energy efficiency and propulsion routes for autonomous flight control.

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Key Features:

• Flight angle control device for controlling flight angle
• Left and right rotors configured to rotate autonomously between the fuselage and the left and right wings of the flying robot, providing propulsion for the robot
• Left and right wings configured on the sides of the flying robot's fuselage to maintain the robot's propulsion route
• Solar cells configured on the fuselage of the flying robot to receive sunlight and perform photoelectric conversion

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of renewable energy intelligent robot convergence technology.

Electric Vehicle Battery Swapping Device and Method

This technology is an automated system that recognizes vehicle information and remaining battery levels when an electric vehicle enters the station. If the battery level is below a set threshold, a robot removes the existing battery and replaces it with a fully charged battery of the appropriate specification.

This solution addresses the long charging times for electric vehicles, the degradation of battery life caused by rapid charging, and the issues of high cost and weight compared to hybrid engines.

The system includes a vehicle recognition device and a battery swapping robot. It identifies the battery's location, status, and capacity based on vehicle information, and the robot automatically performs the replacement process while verifying the vehicle's identity via an internal recognition module. Applicable to industrial robots and automation systems, it enhances the efficiency of battery swapping and charging for electric vehicles.

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Key Features:

• Vehicle recognition device that identifies incoming vehicle information and the remaining level of the first battery
• System that generates a battery swap command if the remaining battery level is below a threshold
• Configuration that identifies a second battery corresponding to the first battery based on vehicle information
• Battery swapping robot that removes the first battery and installs the identified second battery to complete the swap

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of intelligent robot convergence technology for new and renewable energy.

Dead Reckoning Navigation System for Underwater Drones Using Tidal and Background Current Data

This technology is a navigation system that predicts the future path of an underwater drone by separating current data acquired by an onboard sensor into tidal and background current components. It minimizes estimation errors by applying a Kalman filter algorithm to each component and integrates tidal cycle and spatiotemporal background current parameters specific to the target sea area.

Existing underwater drones struggle to distinguish between tidal and background currents, making precise path prediction impossible in strong currents or complex marine environments, which compromises operational stability.

This technology features a module that separates current measurement data into tidal and background components. It applies a Kalman filter to each component to iteratively correct data noise and model errors, and improves dead reckoning precision by building a current model that incorporates regional tidal cycles and spatiotemporal background current scales.

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Key Features:

• Current measurement unit integrated into the underwater drone for real-time monitoring of currents in the navigation area
• Tidal information calculation unit that derives tidal data from the measured current information
• Background current calculation unit that derives background current data from the measured current information
• Path prediction unit that forecasts the underwater drone's trajectory based on the calculated tidal or background current data and the regional tidal cycles and spatiotemporal scales

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Underwater drone operation system with path control based on cell-based collision probability calculation

This technology divides the underwater drone's travel path and vessel location data into multiple cells and applies a mathematical probability model (P=P1×P2×P3) to quantitatively calculate collision risks within a specific maritime area, subsequently planning and controlling safe travel paths based on these probability values.

When underwater drones remain at the surface to transmit data or travel, there is a constant risk of collision with vessels; however, there has been a lack of systematic operational strategies and path control technologies to quantitatively predict and avoid these incidents.

This technology divides the travel path into cells and calculates the total collision probability using a formula that combines vessel density per cell, the probability of drone positioning along vessel paths, and the probability of the drone's depth while at the surface. It then optimizes this data to control the drone's direction toward paths with lower collision risks and higher survival probabilities.

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Key Features:

• An input unit that receives information regarding underwater drones and vessels
• A collision probability calculation unit that determines the probability of collision between the underwater drone and vessels based on the input data
• A path control unit that manages the underwater drone's route based on the calculated collision probability
• A collision probability calculation unit that divides the underwater drone's travel path into multiple cells to calculate the collision probability between the drone and vessels for each cell

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Endoscopic End-Effector for Bone Surgery Using Fluid-Driven Burr Rotation

This technology is a multifunctional endoscopic end-effector mechanism that accesses lesion sites via a flexible insertion tube. It drives a hollow burr using fluid pressure and features an integrated channel within the burr for endoscopy, irrigation, and drug delivery.

Conventional orthopedic surgeries often require multiple incisions and the creation of large bone windows to access lesions, leading to risks of infection, excessive bleeding, restricted joint movement, and a heavy rehabilitation burden.

By combining a flexible insertion tube with a fluid-driven burr, this technology enables minimally invasive, single-port surgery. It also integrates multiple channels within the burr's axis of rotation for endoscopy, drug delivery, irrigation, and suction.

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Key Features:

• An insertion tube that bends to reach the bone area requiring curettage, forming a path as it is inserted into the body.
• A burr unit mounted at the distal end of the insertion tube, designed to rotate and perform bone curettage.
• A burr coupling unit that mounts the burr at the distal end and rotates it using the pressure of fluid supplied through the insertion tube.
• A channel unit formed longitudinally to serve as the rotation axis for the burr, with an endoscope inserted into the channel.

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Wearable Exoskeleton System with Haptic Feedback via Adjustable Elastic Member Reaction Force

This technology is a joint reaction force control mechanism for wearable exoskeleton systems. It uses a linear actuator to variably control the preload of an elastic member (compression coil spring) positioned between link chains, allowing the system to track a target haptic feedback level set by the user.

Existing wearable exoskeleton systems lack a mechanism for users to actively adjust joint haptic feedback, limiting their ability to provide optimized comfort and assistive performance tailored to individual gait characteristics or rehabilitation goals.

This technology features a feedback control system consisting of an elastic member, a load cell, and a linear actuator positioned between link chains. The control unit compares the user-defined target haptic feedback with real-time load cell measurements, adjusting the reaction force of the elastic member by driving the linear actuator (pushing/pulling).

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Key Features:

• A main frame for the upper body and two exoskeleton sections shaped like legs on the lower sides
• First and second joint drive units formed between the first and second U-shaped link chains, and between the foot link chains, to facilitate relative rotation
• An elastic member interposed between the first and second link chains, and a load cell to measure the load applied to the elastic member
• A linear actuator that adjusts the reaction force of the elastic member by linearly changing the displacement of the elastic member's connection point

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IoT-Based Unmanned Fish Farm Combining Buoyancy Control Structures and Rail-Mounted Robots

This technology features an IoT-based unmanned robotic fish farm built on a floating structure that controls buoyancy by regulating seawater intake and discharge. It utilizes a mobile rail system that allows a robot to manage the farm from above, performing depth adjustments and automated operations based on environmental monitoring and sensor data.

Conventional fixed offshore fish farms are vulnerable to physical damage from extreme sea conditions such as red tides, typhoons, and tsunamis, and their inability to adjust depth makes them susceptible to external environmental changes.

This technology enables the fish farm to be raised or lowered by controlling seawater intake and discharge within the floating structure, automatically measures the ecological environment using IoT sensors, and manages operations via a rail-based mobile robot. Applicable to both offshore aquaculture and marine tourism complexes, it helps avoid damage from extreme weather while reducing labor costs through unmanned operation.

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Key Features:

• Buoyancy-adjustable floating structure designed to float on the water surface with buoyancy controlled by seawater intake and discharge
• Mobile robot rail system installed on top of the buoyancy-adjustable structure to facilitate robotic operations
• Floating structure installed at the base of the buoyancy-adjustable unit, configured to regulate seawater intake and discharge
• IoT-based system configuration for monitoring the ecological environment of the fish farm and controlling water depth

Contactless Specimen Collection Robot Combining Pressure Sensor Contact Detection and Swab Stick Cutting

This technology is an automated specimen collection method, robot, and system that detects contact with the oropharynx and nasopharynx using a pressure sensor installed on the swab gripper of a multi-jointed robotic arm, collects specimens by rotating the swab with an actuator, and cuts the swab stick using a separate cutter mechanism.

During manual specimen collection, medical staff face a risk of secondary infection due to close proximity to the patient. Furthermore, manual collection often leads to positioning errors, specimen contamination, and significant downtime for equipment sterilization.

This technology automates specimen collection through pressure sensor-based contact detection and actuator control, while ensuring thorough sterilization using a combined heat and UV system with a rotating mechanism. It can be applied to infectious disease screening and unmanned testing centers, eliminating infection risks for medical staff while ensuring consistent specimen quality.

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Key Features:

• A first object gripping unit configured to include a receiving hole into which the swab used for collecting the patient's specimen is inserted
• A sensor unit that detects contact between the swab and the patient's oropharynx or nasopharynx, and a first actuator that rotates the first object gripping unit
• A robot control unit configured to activate the first actuator based on the contact detection results from the sensor unit
• A cutter that protrudes from the wall of the receiving hole to cut the swab stick once the swab has been transferred to the transport medium

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This invention was developed with support from the Ministry of Science and ICT for the development and application of IoT and AI-based automated shock treatment devices.

Robot Systems

This technology is a gripper mechanism that detects mechanical deformation of a sensor frame during object gripping using strain gauges to measure vertical reaction and sliding forces, thereby calculating the friction coefficient in real-time to control optimal gripping force.

Conventional offline testing methods fail to account for friction coefficient fluctuations caused by humidity or environmental changes, posing a risk of slippage when handling high-value items. Additionally, integrated sensor and data acquisition board designs often lead to overly complex device structures.

This technology enhances signal processing efficiency by integrating a DAQ board independent of the sensor frame within the gripper unit. It measures 3-axis forces via strain gauges in the sensor frame's sensing unit to calculate the friction coefficient and automatically adjust gripping force accordingly. Applicable to logistics picking, service robots, and manufacturing automation, it improves the accuracy and stability of handling processes by measuring sliding forces and generating friction coefficients.

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Key Features:

• A pair of gripper units, each featuring a gripper body mounted to the tool body to allow for mutual approach and separation, and equipped with a sensor frame for gripping objects.
• A terminal unit mounted within the frame body to connect to the sensing unit, which transmits signals detected by the sensing unit to a DAQ board for processing and collection.
• A sensing unit mounted within the frame body to make contact with the contact pad, designed to detect vertical reaction or sliding forces applied to the contact pad.
• A contact pad coupled to the side of the frame body where the object is gripped, which makes contact with the object during the gripping process.

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This invention was developed with support from the Ministry of Knowledge Economy for the development of safety modules with a maximum output range of 150Nm and force-torque/joint sensor technology for dual-arm working robots.

Work tool with object gripping and suction capabilities

This technology is a manipulator work tool mechanism that adjusts the spacing between a pair of grippers via a rack-and-pinion drive and incorporates suction cups at the base of the grippers to perform both gripping and suction tasks simultaneously.

Conventional technologies faced inefficiencies due to the need for tool changes when performing only gripping or suction, as well as backlash issues caused by reaction forces between the grippers and rack gears during gripping.

This technology inserts ring-shaped cushioning members between the grippers and the rack gear mounting bolts to absorb physical reaction forces. By applying a rack-and-pinion drive system, it allows for suction cup spacing adjustments based on part size and enables combined gripping and suction operations. Applicable to logistics picking, service robots, and manufacturing automation, it enables the handling of objects with irregular shapes and reduces the need for tool changes, thereby improving the efficiency and stability of pick-and-place operations.

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Key Features:

• Cushioning member positioned between the pair of grippers and the drive unit to absorb reaction forces generated during object gripping
• A pair of grippers with suction cups mounted at one end, extending vertically from that end
• Drive unit coupled to the pair of grippers that adjusts the spacing between them to grip objects
• A pair of rack gears that mesh with a pinion gear and move laterally via rotational force

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This invention was developed with support from the Ministry of Knowledge Economy for the development of safety modules with a maximum output range of 150Nm and force-torque/joint sensor technology for dual-arm working robots.

IoT Monitoring System for Fruit Maturity Assessment Using HSV Binarization Image Analysis

This technology monitors crop environments and growth status using cameras and temperature/humidity sensors mounted on a mobile platform. It is an intelligent monitoring system that determines and controls fruit maturity (GOOD/BAD) by applying OpenCV-based color and shape recognition technology combined with a Backpropagation (BP) multilayer neural network.

The decline in harvesting efficiency due to an aging rural workforce and a shortage of skilled labor. High manufacturing costs of existing harvesting robot systems and low accuracy in determining fruit maturity.

This technology features a wheeled mobile robot equipped with a lift to adjust camera height. It recognizes objects through HSV color space segmentation via OpenCV, binarization, ROI extraction based on moment functions, and Canny edge filtering. It improves recognition accuracy by finalizing maturity assessments using red ratio analysis and a multilayer neural network (BP neural network).

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Key Features:

• A main body equipped with mobile wheels, a power supply unit, a communication unit, and a camera unit for capturing the monitoring target
• Temperature/humidity sensors for measuring the environment of the target location and a lift support unit that provides elevation functionality to the camera unit
• A drive unit that raises or lowers the camera unit connected to the lift's movement axis or operates the mobile wheels of the main body
• A control unit that extracts the region of interest from the binarized object image by adjusting HSV values and determines the ripeness level based on the red ratio

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