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1. (WO2019045293) METHOD FOR GENERATING TARGET-ORIENTED LOCAL PATH AND ROBOT FOR IMPLEMENTING SAME
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Pub. No.: WO/2019/045293 International Application No.: PCT/KR2018/008782
Publication Date: 07.03.2019 International Filing Date: 02.08.2018
IPC:
B25J 9/16 (2006.01) ,B25J 19/02 (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
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
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
심미영 SIM, Miyoung; 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:
10-2017-011147831.08.2017KR
Title (EN) METHOD FOR GENERATING TARGET-ORIENTED LOCAL PATH AND ROBOT FOR IMPLEMENTING SAME
(FR) PROCÉDÉ PERMETTANT DE GÉNÉRER UN TRAJET LOCAL ORIENTÉ CIBLE ET ROBOT PERMETTANT DE METTRE EN ŒUVRE CELUI-CI
(KO) 타겟 지향 로컬 경로를 생성하는 방법 및 이를 구현하는 로봇
Abstract:
(EN) The present invention relates to a method for generating a target-oriented local path and a robot for implementing the same, and a robot for enabling space partition and working in space, according to one embodiment of the present invention, comprises: a map storing unit for storing an entire path including a position of a fixed object in the space in which the robot moves, and multiple target cells from a start point to a target point, and a local path generated by reflecting the result of an obstacle sensing operation performed by a sensing unit in response to a direction and a distance in which the robot moves to one or more of N-number of target cells selected, on the basis of a current position of the robot, among the target cells disposed on the entire path; and a control unit for controlling the sensing unit, the map storing unit, a moving unit and a working unit, wherein the control unit selects, according to priority, the target cell corresponding to a direction and a distance in which no obstacle is sensed, and generates a local path in which the robot moves to the selected target cell.
(FR) La présente invention concerne un procédé permettant de générer un trajet local orienté cible et un robot permettant de mettre en œuvre celui-ci, et un robot pour permettre une partition d'espace et travailler dans l'espace, selon un mode de réalisation, comprenant : une unité de stockage de carte pour stocker un trajet entier comprenant une position d'un objet fixe dans l'espace dans lequel se déplace le robot, et de multiples cellules cibles d'un point de départ à un point cible, et un trajet local généré par la réflexion du résultat d'une opération de détection d'obstacle effectuée par une unité de détection en réponse à une direction et une distance dans laquelle le robot se déplace vers un ou plusieurs d'un nombre N de cellules cibles sélectionnées, sur la base d'une position actuelle du robot, parmi les cellules cibles disposées sur l'ensemble du trajet; et une unité de commande pour commander l'unité de détection, l'unité de stockage de carte, une unité de déplacement et une unité de travail, l'unité de commande sélectionne, en fonction de la priorité, la cellule cible correspondant à une direction et une distance dans laquelle aucun obstacle n'est détecté, et génère un trajet local dans lequel le robot se déplace vers la cellule cible sélectionnée.
(KO) 본 발명은 타겟 지향 로컬 경로를 생성하는 방법 및 이를 구현하는 로봇에 관한 것으로, 본 발명의 일 실시예에 의한 공간을 분할-작업하는 로봇은 로봇이 이동하는 공간의 고정 객체의 위치와 시작 지점에서 목표 지점까지 다수의 타겟셀을 포함하는 전역 경로, 그리고 전역 경로에 배치된 타겟셀 중 현재 로봇의 위치를 기준으로 선택된 N개의 타겟셀 중 어느 하나 이상으로 로봇이 이동하는 방향 및 거리에 대응하여 센싱부가 장애물을 센싱한 결과를 반영하여 생성된 로컬 경로를 저장하는 맵 저장부와 센싱부와 맵 저장부와 이동부와 작업부를 제어하며, 제어부는 장애물이 센싱되지 않은 방향 및 거리에 대응하는 타겟셀을 우선 순위에 따라 선택하여 선택한 타겟셀로 로봇이 이동하는 로컬 경로를 생성하는 제어부를 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)