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1. WO2021040214 - MOBILE ROBOT AND METHOD FOR CONTROLLING SAME

Publication Number WO/2021/040214
Publication Date 04.03.2021
International Application No. PCT/KR2020/008496
International Filing Date 30.06.2020
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
CPC
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 11/008
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
B25J 19/02
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
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 19/023
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
023including video camera means
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Applicants
  • 주식회사 케이티 KT CORPORATION [KR]/[KR]
Inventors
  • 김기현 KIM, Ki-Hyun
  • 김현숙 KIM, Hyun-Sook
  • 한상훈 HAN, Sanghoon
Agents
  • 유미특허법인 YOU ME PATENT AND LAW FIRM
Priority Data
10-2019-010521127.08.2019KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) MOBILE ROBOT AND METHOD FOR CONTROLLING SAME
(FR) ROBOT MOBILE ET SON PROCÉDÉ DE COMMANDE
(KO) 이동 로봇 및 그 제어 방법
Abstract
(EN)
A mobile robot and a method for controlling same are provided. The mobile robot comprises: a laser scanner installed in a predetermined position on the mobile robot so as to output laser scan data on the basis of a scan unit, the laser scan data being produced through a scan within a viewing angle; a memory configured to store a program for performing object recognition and object tracking by using at least one image production unit and the laser scanner; and at least one processor configured to execute the program. The program comprises instructions for: converting an image produced by the at least one image production unit into a skeleton, thereby producing a skeleton image, and storing same; detecting an object (tracking target) on the basis of the laser scan data; driving the at least one image production unit, if noise or interference occurs or if object tracking fails, so as to produce a skeleton image from an image captured at the current timepoint; and re-detecting an object on the basis of laser scan data that is output at the current timepoint if the skeleton image at the current timepoint is identical to a prestored skeleton image.
(FR)
L'invention concerne un robot mobile et son procédé de commande. Le robot mobile comprend : un dispositif de balayage laser installé dans une position prédéfinie sur le robot mobile de façon à délivrer en sortie des données de balayage laser sur la base d'une unité de balayage, les données de balayage laser étant produites par balayage à l'intérieur d'un angle de visualisation; une mémoire configurée pour mémoriser un programme pour effectuer une reconnaissance d'objet et un suivi d'objet en utilisant au moins une unité de production d'image et le scanner laser; et au moins un processeur configuré pour exécuter le programme. Le programme comprend des instructions pour : convertir une image produite par la ou les unités de production d'image en un squelette, produisant ainsi une image de squelette, et mémorisant celle-ci; détecter un objet (cible de suivi) sur la base des données de balayage laser; piloter la ou les unités de production d'image, si un bruit ou un brouillage se produit ou si le suivi d'objet échoue, de sorte à produire une image de squelette à partir d'une image capturée au moment actuel; et re-détecter un objet sur la base de données de balayage laser qui sont délivrées en sortie au moment actuel si l'image de squelette au moment actuel est identique à une image de squelette pré-mémorisée.
(KO)
이동 로봇 및 그 제어 방법이 제공된다. 이동 로봇은, 상기 이동 로봇의 소정 위치에 설치되어, 화각 내 스캔을 통하여 생성한 레이저 스캔 데이터를 스캔 단위로 출력하는 레이저 스캐너, 상기 적어도 하나의 영상 생성부 및 상기 레이저 스캐너를 이용한 객체 인식 및 객체 추적을 수행하는 프로그램이 저장된 메모리, 그리고 상기 프로그램을 실행하는 적어도 하나의 프로세서를 포함하고, 상기 프로그램은, 상기 적어도 하나의 영상 생성부가 생성한 영상을 스켈레톤화하여 스켈레톤 영상을 생성하여 저장하고, 상기 레이저 스캔 데이터를 기초로 추적 대상인 객체를 검출하며, 노이즈 또는 간섭이 발생하거나 또는 객체 추적에 실패하면, 상기 적어도 하나의 영상 생성부를 구동하여 현 시점에 촬영된 영상으로부터 스켈레톤 영상을 생성하고, 현 시점의 스켈레톤 영상과 기 저장된 스켈레톤 영상이 일치하면, 현 시점에 출력된 레이저 스캔 데이터를 기초로 객체를 재검출하는 명령어들을 포함한다.
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