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1. (WO2018021600) SPHERICAL MOVABLE DEVICE AND METHOD FOR MOVING SAME
Latest bibliographic data on file with the International Bureau    Submit observation

Pub. No.: WO/2018/021600 International Application No.: PCT/KR2016/008391
Publication Date: 01.02.2018 International Filing Date: 29.07.2016
IPC:
B25J 5/00 (2006.01) ,B25J 11/00 (2006.01) ,B25J 19/02 (2006.01) ,B25J 9/16 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5
Manipulators mounted on wheels or on carriages
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11
Manipulators not otherwise provided for
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02
Sensing devices
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
Applicants: FAIRAPP INC.[KR/KR]; 77, Yongbong-ro Buk-gu Gwangju 61186, KR
Inventors: KIM, In Su; KR
PARK, Hee Man; KR
NOH, Sang Kyun; KR
KIM, Yong Ju; KR
LEE, Ji Yong; KR
LEE, Dae Geon; KR
KIM, Kyung Hwa; KR
Agent: FIRSTLAW P.C.; 60 Mabang-Ro Seocho-Ku Seoul 06775, KR
Priority Data:
10-2016-009709929.07.2016KR
Title (EN) SPHERICAL MOVABLE DEVICE AND METHOD FOR MOVING SAME
(FR) DISPOSITIF MOBILE SPHÉRIQUE ET SON PROCÉDÉ DE DÉPLACEMENT
(KO) 구형 이동 장치 및 그 이동 방법
Abstract:
(EN) A spherical movable device, according to the present invention, is a spherical movable device enabling the controlling of the driving of a sphere having mounted, in an inner space thereof, a drive body having at least two wheels mounted thereon. The spherical movable device may comprise: a sensor unit in which multiple sensors each detecting an object within a preset detection angle range are arranged so that a portion of the respective detection angle ranges of adjacent sensors overlap so as to form an overlapping region; a motion detection unit which detects a motion or a direction of motion of the object on the basis of respective detection signals from each sensor and a detection signal in the overlapping region; a control unit which calculates a movement distance or a movement direction for moving the sphere on the basis of the detected motion or direction of motion; and a power generation unit which generates drive power corresponding to the calculated movement distance or movement direction and supplies same to the wheels of the sphere, wherein the sensor unit, the motion detection unit, the control unit and the power generation unit may be mounted inside the drive body.
(FR) Cette invention concerne un dispositif mobile sphérique, qui est un dispositif mobile sphérique permettant la commande de l'entraînement d'une sphère présentant, monté dans un espace interne de celle-ci, un corps d'entraînement ayant au moins deux roues montées sur celui-ci. Le dispositif mobile sphérique peut comprendre : une unité de capteurs dans laquelle de multiples capteurs dont chacun détecte un objet dans une plage d'angles de détection prédéfinie, sont agencés de telle sorte qu'une partie des plages d'angles de détection respectives de capteurs adjacents se chevauchent de manière à former une région de chevauchement ; une unité de détection de déplacement qui détecte un déplacement ou un sens de déplacement de l'objet sur la base de signaux de détection respectifs provenant de chaque capteur et d'un signal de détection dans la région de chevauchement ; une unité de commande qui calcule une distance de déplacement ou un sens de déplacement pour déplacer la sphère sur la base du déplacement ou de la direction de déplacement détectés ; et une unité de génération d'énergie qui génère une énergie motrice correspondant à la distance de déplacement ou au sens de déplacement calculés et fournit celle-ci aux roues de la sphère, l'unité de détection, l'unité de détection de déplacement, l'unité de commande et l'unité de génération d'énergie pouvant être montées à l'intérieur du corps d'entraînement.
(KO) 본 발명에 따른 구형 이동 장치는, 적어도 두 개의 바퀴가 장착된 구동체가 내부 공간에 탑재된 구체의 구동을 제어하는 구형 이동 장치로서, 기 설정된 탐지 각도 범위 내의 대상 물체를 각각 탐지하는 다수의 센서가 인접하는 센서 간의 탐지 각도 범위의 일부가 중첩 영역으로 중첩되도록 배치되는 센서부와, 각 센서로부터의 탐지신호와 상기 중첩 영역에서의 탐지신호에 의거하여 상기 대상 물체의 움직임 또는 움직임 방향을 검출하는 움직임 검출부와, 검출된 상기 움직임 또는 움직임 방향에 의거하여 상기 구체를 이동시키기 위한 이동 거리 또는 이동 방향을 산출하는 제어부와, 산출된 상기 이동 거리 또는 이동 방향에 상응하는 구동 동력을 발생시켜 상기 구체의 바퀴에 제공하는 동력 발생부를 포함할 수 있으며, 상기 센서부, 움직임 검출부, 제어부 및 동력 발생부는 상기 구동체의 내부에 장착될 수 있다.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Korean (KO)
Filing Language: Korean (KO)