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1. (WO2019045284) METHOD FOR MOVING ROBOT WHILE MAINTAINING DISTANCE WITH OBJECT, AND ROBOT FOR IMPLEMENTING SAME
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Pub. No.: WO/2019/045284 International Application No.: PCT/KR2018/008650
Publication Date: 07.03.2019 International Filing Date: 30.07.2018
IPC:
B25J 9/16 (2006.01) ,B25J 11/00 (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
9
Programme-controlled manipulators
16
Programme controls
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
Applicants:
엘지전자 주식회사 LG ELECTRONICS INC. [KR/KR]; 서울시 영등포구 여의대로 128 128, Yeoui-daero Yeongdeungpo-gu Seoul 07336, KR
Inventors:
최지은 CHOI, Jieun; KR
Agent:
특허법인 대아 DAE-A INTELLECTUAL PROPERTY CONSULTING; 서울시 강남구 역삼로 123 한양빌딩 3층 3F, Hanyang Bldg., 123 Yeoksam-ro Gangnam-gu Seoul 06243, KR
Priority Data:
10-2017-011017030.08.2017KR
Title (EN) METHOD FOR MOVING ROBOT WHILE MAINTAINING DISTANCE WITH OBJECT, AND ROBOT FOR IMPLEMENTING SAME
(FR) PROCÉDÉ POUR DÉPLACER UN ROBOT TOUT EN MAINTENANT UNE CERTAINE DISTANCE AVEC UN OBJET, ET ROBOT POUR METTRE EN ŒUVRE LEDIT PROCÉDÉ
(KO) 객체와 간격을 유지하며 로봇을 이동시키는 방법 및 이를 구현하는 로봇
Abstract:
(EN) The present invention relates to a method for moving a robot while maintaining distance with an object, and a robot for implementing the same. A method for moving a robot while maintaining distance with an object according to an embodiment of the present invention includes: a first setting step in which a control unit of the robot uses a grid map stored in a map storage unit to set cost information of a cell in which a fixed object is disposed; a second setting step in which the control unit sets cost information of cells adjacent to the fixed object; a third setting step in which the control unit, on the basis of the cost information of the adjacent cells and the cell in which the fixed object is disposed, sets cost information of the cells which are in the grid map and for which cost information has not been set; and a path generation step in which the robot generates a path on the basis of the cost information of the cells forming the grid map.
(FR) La présente invention concerne un procédé pour déplacer un robot tout en maintenant une certaine distance avec un objet, et un robot pour mettre en œuvre ledit procédé. Selon un mode de réalisation de la présente invention, le procédé pour déplacer un robot tout en maintenant une certaine distance avec un objet comprend : une première étape de paramétrage dans laquelle une unité de commande du robot utilise une carte quadrillée stockée dans une unité de stockage de carte pour paramétrer des informations de coût d'une cellule dans laquelle est disposé un objet fixe ; une deuxième étape de paramétrage dans laquelle l'unité de commande paramètre des informations de coût de cellules adjacentes à l'objet fixe ; une troisième étape de paramétrage dans laquelle l'unité de commande, sur la base des informations de coût des cellules adjacentes et de la cellule dans laquelle est disposé l'objet fixe, paramètre des informations de coût des cellules qui se trouvent sur la carte quadrillée et pour lesquelles des informations de coût n'ont pas été paramétrées ; et une étape de génération de trajet dans laquelle le robot génère un trajet sur la base des informations de coût des cellules formant la carte quadrillée .
(KO) 본 발명은 객체와 간격을 유지하며 로봇을 이동시키는 방법 및 이를 구현하는 로봇에 관한 것으로, 본 발명의 일 실시예에 의한 객체와 간격을 유지하며 로봇을 이동시키는 방법은 로봇의 제어부가 맵저장부에 저장된 그리드맵을 이용하여 고정 객체가 배치된 셀의 코스트 정보를 설정하는 제1 설정단계, 상기 제어부가 상기 고정 객체에 인접한 셀의 코스트 정보를 설정하는 제2 설정단계, 상기 제어부가 상기 그리드맵에서 상기 코스트 정보가 설정되지 않은 셀들의 코스트 정보를 상기 인접한 셀 및 상기 고정 객체가 배치된 셀의 코스트 정보에 기반하여 설정하는 제3 설정단계, 및 상기 로봇이 상기 그리드맵을 구성하는 셀들의 코스트 정보에 기반하여 경로를 생성하는 경로 생성 단계를 포함한다.
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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, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KW, 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)