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1. WO2022045475 - MOBILE ROBOT AND CONTROL METHOD THEREFOR

Publication Number WO/2022/045475
Publication Date 03.03.2022
International Application No. PCT/KR2020/017784
International Filing Date 07.12.2020
IPC
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 5/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 9/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
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 9/12 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
10characterised by positioning means for manipulator elements
12electric
A01D 34/00 2006.1
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers; Mowing apparatus of harvesters
CPC
A01D 34/00
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
DHARVESTING; MOWING
34Mowers
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 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 9/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 9/12
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
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
  • 엘지전자 주식회사 LG ELECTRONICS INC. [KR]/[KR]
Inventors
  • 최규천 CHOI, Kyu Chun
  • 이재훈 LEE, Jae Hoon
  • 주형국 JOO, Hyung Kook
Agents
  • 특허법인 광장리앤고 LEE & KO IP
Priority Data
10-2020-010659924.08.2020KR
Publication Language Korean (ko)
Filing Language Korean (KO)
Designated States
Title
(EN) MOBILE ROBOT AND CONTROL METHOD THEREFOR
(FR) ROBOT MOBILE ET SON PROCÉDÉ DE COMMANDE
(KO) 이동 로봇 및 이의 제어 방법
Abstract
(EN) A mobile robot and a mobile robot control method are disclosed. Particularly, the mobile robot may comprise: a body for forming the exterior thereof; a cutting device mounted on the body to cut grass; a first wheel and a second wheel coupled to the body to move the mobile robot; a first motor for driving the first wheel; a second motor for driving the second wheel; a sensor for detecting the rotational speed of the first motor and/or the second motor; and a control unit for controlling the speed of the second motor on the basis of the difference between a command speed for the first motor and the actual speed thereof.
(FR) L’invention divulgue un robot mobile et un procédé de commande de robot mobile. En particulier, le robot mobile peut comprendre : un corps pour former l'extérieur de celui-ci ; un dispositif de coupe monté sur le corps pour couper de l'herbe ; une première roue et une seconde roue couplées au corps pour déplacer le robot mobile ; un premier moteur pour entraîner la première roue ; un second moteur pour entraîner la seconde roue ; un capteur pour détecter la vitesse de rotation du premier moteur et/ou du second moteur ; et une unité de commande pour commander la vitesse du second moteur sur la base de la différence entre une vitesse d'instruction pour le premier moteur et la vitesse réelle de celui-ci.
(KO) 이동 로봇 및 이동 로봇의 제어 방법이 개시된다. 구체적으로, 이동 로봇은 외관을 형성하는 바디; 상기 바디에 장착되어, 잔디를 절삭하는 절삭 장치; 상기 바디에 결합되어, 상기 이동 로봇을 이동시키는 제1 휠 및 제2 휠; 상기 제1 휠을 구동시키는 제1 모터; 상기 제2 휠을 구동시키는 제2 모터; 상기 제1 모터 및 상기 제2 모터 중 적어도 하나의 회전 속도를 감지하는 센서; 및 상기 제1 모터에 대한 지령 속도와 실제 속도의 차이에 기초하여 상기 제2 모터의 속도를 조절하는 제어부를 포함할 수 있다.
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