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1. WO2022010041 - MOBILE ROBOT AND METHOD FOR CONTROLLING SAME

Publication Number WO/2022/010041
Publication Date 13.01.2022
International Application No. PCT/KR2020/013976
International Filing Date 14.10.2020
IPC
B25J 9/16 2006.1
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 11/00 2006.1
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 2006.1
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
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 13/089
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
088with position, velocity or acceleration sensors
089Determining the position of the robot with reference to its environment
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 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 9/126
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
126Rotary actuators
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
  • 엘지전자 주식회사 LG ELECTRONICS INC. [KR]/[KR]
Inventors
  • 이재민 LEE, Jaemin
  • 주정우 JU, Jeongwoo
Agents
  • 특허법인(유한)케이비케이 KBK & ASSOCIATES
Priority Data
10-2020-008469709.07.2020KR
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) 이동로봇 및 이의 제어방법
Abstract
(EN) The present invention relates to a mobile robot running in a work area in which a plurality of beacons are installed in order to improve location measurement accuracy of the mobile robot running in the work area, and is to provide a method for controlling a mobile robot, characterized by: a bearing acquisition step of acquiring bearing information from the beacons; a first distance measurement step of measuring first distance information between the mobile robot and the beacons on the basis of the bearing information after the bearing acquisition step; a second distance measuring step of measuring second distance information between the mobile robot and an object existing in the work area through a distance sensor provided in the mobile robot; and a first comparison step of comparing the first distance information and the second distance information, wherein in the first comparison step, when the first distance and the second distance are the same, the location recognition of the mobile robot is performed on the basis of the bearing information.
(FR) La présente invention concerne un robot mobile fonctionnant dans une zone de travail dans laquelle une pluralité de balises sont installées afin d'améliorer la précision de mesure d'emplacement du robot mobile fonctionnant dans la zone de travail, et concerne un procédé de commande d'un robot mobile, caractérisé en ce qu'il comprend : une étape d'acquisition de palier consistant à acquérir des informations relatives à un palier à partir des balises ; une étape de mesure de première distance consistant à mesurer des informations relatives à une première distance entre le robot mobile et les balises sur la base des informations relatives au palier après l'étape d'acquisition de palier ; une étape de mesure de seconde distance consistant à mesurer des informations relatives à une seconde distance entre le robot mobile et un objet existant dans la zone de travail par le biais d'un capteur de distance disposé dans le robot mobile ; et une première étape de comparaison consistant à comparer les informations relatives à la première distance et les informations relatives à la seconde distance. Dans la première étape de comparaison, lorsque la première distance et la seconde distance sont identiques, la reconnaissance d'emplacement du robot mobile est exécutée sur la base des informations relatives au palier.
(KO) 본 발명은 작업영역을 주행하는 이동로봇의 위치측정 정확도를 향상시키기 위해, 복수개의 비컨(Beacon)이 설치되어 있는 작업영역을 주행하는 이동로봇에 있어서, 상기 비컨으로부터 방위 정보를 취득하는 방위 취득단계와 상기 방위 취득단계 후, 상기 방위 정보를 기초로 상기 이동로봇과 상기 비컨 사이의 제1 거리정보를 측정하는 제1 거리 측정단계와 상기 이동로봇에 구비된 거리센서를 통해 상기 이동로봇과 상기 작업영역 내에 존재하는 대상물 사이의 제2 거리정보를 측정하는 제2 거리 측정단계와 상기 제1 거리정보와 상기 제2 거리정보를 비교하는 제1 비교단계 및 상기 제1 비교단계에서, 상기 제1 거리와 상기 제2 거리가 같은 경우 상기 방위 정보를 기반으로 상기 이동로봇의 위치인식을 수행하는 것을 특징으로 하는 이동로봇의 제어방법을 제공하고자 한다.
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