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1. WO2020197297 - MOBILE ROBOT AND METHOD OF CONTROLLING THE SAME

Publication Number WO/2020/197297
Publication Date 01.10.2020
International Application No. PCT/KR2020/004147
International Filing Date 26.03.2020
IPC
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
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 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
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
CPC
B25J 11/0085
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
008Manipulators for service tasks
0085Cleaning
B25J 13/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
B25J 19/022
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; 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
021Optical sensing devices
022using lasers
B25J 19/04
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; 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
04Viewing devices
B25J 5/007
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
007mounted on wheels
B25J 9/161
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1602characterised by the control system, structure, architecture
161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Applicants
  • LG ELECTRONICS INC. [KR]/[KR]
Inventors
  • NOH, Dongki
  • LEE, Jaekwang
  • LIM, Seungwook
  • CHOI, Kahyung
  • EOH, Gyuho
Agents
  • PARK, Byung Chang
Priority Data
10-2019-003503927.03.2019KR
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) MOBILE ROBOT AND METHOD OF CONTROLLING THE SAME
(FR) ROBOT MOBILE ET SON PROCÉDÉ DE COMMANDE
Abstract
(EN)
Disclosed is a mobile robot including a traveling unit configured to move a main body, a LiDAR sensor configured to acquire geometry information outside the main body, a camera sensor configured to acquire an image of the outside of the main body, and a controller configured to create odometry information based on sensing data of the LiDAR sensor and to perform feature matching between images input from the camera sensor based on the odometry information in order to estimate the current location, whereby the camera sensor and the LiDAR sensor may be effectively fused to accurately perform location estimation.
(FR)
L'invention concerne un robot mobile comprenant une unité de déplacement conçue pour déplacer un corps principal, un capteur LiDAR conçu pour acquérir des informations de géométrie à l'extérieur du corps principal, un capteur de caméra conçu pour acquérir une image de l'extérieur du corps principal, et un dispositif de commande conçu pour créer des informations d'odométrie sur la base des données de détection du capteur LiDAR et pour effectuer une correspondance de caractéristiques parmi des images entrées à partir du capteur de caméra, sur la base des informations d'odométrie, afin d'estimer l'emplacement actuel, ce qui permet de fusionner efficacement le capteur de caméra et le capteur LiDAR pour effectuer de manière précise une estimation d'emplacement.
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