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1. WO2020116986 - AUTONOMOUSLY TRAVELING MOBILE ROBOT AND TRAVELING CONTROL METHOD THEREFOR

Publication Number WO/2020/116986
Publication Date 11.06.2020
International Application No. PCT/KR2019/017186
International Filing Date 06.12.2019
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 19/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
B25J 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
A47L 9/28 2006.01
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Applicants
  • 주식회사 유진로봇 YUJIN ROBOT CO., LTD. [KR]/[KR]
Inventors
  • 신경철 SHIN, Kyung Chul
  • 박성주 PARK, Seong Ju
  • 박기연 PARK, Gi Yeon
  • 황기산 HWANG, Ki San
  • 장승호 JANG, Seung Ho
Agents
  • 특허법인 우인 WOOIN PATENT & LAW FIRM
Priority Data
10-2018-015694307.12.2018KR
10-2019-008626517.07.2019KR
10-2019-012098130.09.2019KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) AUTONOMOUSLY TRAVELING MOBILE ROBOT AND TRAVELING CONTROL METHOD THEREFOR
(FR) ROBOT MOBILE À DÉPLACEMENT AUTONOME ET PROCÉDÉ DE COMMANDE DE DÉPLACEMENT ASSOCIÉ
(KO) 자율 주행 가능한 이동 로봇 및 이의 주행 제어 방법
Abstract
(EN)
Disclosed are an autonomously traveling mobile robot and a traveling control method therefor, which can control the traveling of the mobile robot according to a first traveling mode allowing traveling in which objects positioned adjacently to the mobile robot are followed or a second traveling mode allowing traveling in consideration of a positional relation with an existing traveling route through which the mobile robot has already traveled, and generate candidate spots at which the mobile robot can move while the mobile robot moves along the traveling route, and thus a spiral cleaning pattern can be implemented.
(FR)
L'invention concerne un robot mobile à déplacement autonome et un procédé de commande de déplacement associé, lequel peut commander le déplacement du robot mobile selon un premier mode de déplacement permettant un déplacement dans lequel des objets positionnés à proximité du robot mobile sont suivis ou un deuxième mode de déplacement permettant un déplacement en tenant compte d'une relation de position avec un itinéraire de déplacement existant que le robot mobile a déjà parcouru, et générer des points candidats au niveau desquels le robot mobile peut se déplacer pendant que le robot mobile se déplace le long de l'itinéraire de déplacement, et ainsi un modèle de nettoyage en spirale peut être mis en œuvre.
(KO)
본 발명에 따르면, 이동 로봇의 주변에 위치하는 장애물을 추종하여 주행하는 제1 주행 모드 또는 상기 이동 로봇이 이미 주행한 기존 주행 경로와의 위치관계를 고려하여 주행하는 제2 주행 모드에 따라 이동 로봇의 주행을 제어하고, 이동 로봇이 주행 경로에 따라 이동하면서 상기 이동 로봇이 이동할 수 있는 후보 지점을 생성하여 나선형 패턴의 청소 패턴을 구현할 수 있는 자율 주행 가능한 이동 로봇 및 이의 주행 제어 방법이 개시된다.
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