KR102521714B9 - Moving device equipped with obstacle avoidance self-determination solution based artificial intelligence and point cloud method thereof - Google Patents

Moving device equipped with obstacle avoidance self-determination solution based artificial intelligence and point cloud method thereof

Info

Publication number
KR102521714B9
KR102521714B9 KR1020230032431A KR20230032431A KR102521714B9 KR 102521714 B9 KR102521714 B9 KR 102521714B9 KR 1020230032431 A KR1020230032431 A KR 1020230032431A KR 20230032431 A KR20230032431 A KR 20230032431A KR 102521714 B9 KR102521714 B9 KR 102521714B9
Authority
KR
South Korea
Prior art keywords
point cloud
artificial intelligence
moving device
device equipped
obstacle avoidance
Prior art date
Application number
KR1020230032431A
Other languages
Korean (ko)
Other versions
KR20230042674A (en
KR102521714B1 (en
Inventor
윤고은
함형하
Original Assignee
주식회사 클로봇
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 클로봇 filed Critical 주식회사 클로봇
Priority to KR1020230032431A priority Critical patent/KR102521714B1/en
Publication of KR20230042674A publication Critical patent/KR20230042674A/en
Application granted granted Critical
Publication of KR102521714B1 publication Critical patent/KR102521714B1/en
Publication of KR102521714B9 publication Critical patent/KR102521714B9/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Software Systems (AREA)
  • Mathematical Physics (AREA)
  • Fuzzy Systems (AREA)
  • Evolutionary Computation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
KR1020230032431A 2021-04-12 2023-03-13 Moving device equipped with obstacle avoidance self-determination solution based artificial intelligence and point cloud, method thereof KR102521714B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020230032431A KR102521714B1 (en) 2021-04-12 2023-03-13 Moving device equipped with obstacle avoidance self-determination solution based artificial intelligence and point cloud, method thereof

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR1020210047136A KR102449047B1 (en) 2021-04-12 2021-04-12 Method and Server for Obstacle Avoidance Driving Control of Moving Vehicle
KR1020220161853A KR102510840B1 (en) 2021-04-12 2022-11-28 Server for controlling autonomous driving of mobile robot in non-avoidable obstacles that are not damaged when hit, method and program
KR1020230032431A KR102521714B1 (en) 2021-04-12 2023-03-13 Moving device equipped with obstacle avoidance self-determination solution based artificial intelligence and point cloud, method thereof

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020220161853A Division KR102510840B1 (en) 2021-04-12 2022-11-28 Server for controlling autonomous driving of mobile robot in non-avoidable obstacles that are not damaged when hit, method and program

Publications (3)

Publication Number Publication Date
KR20230042674A KR20230042674A (en) 2023-03-29
KR102521714B1 KR102521714B1 (en) 2023-04-14
KR102521714B9 true KR102521714B9 (en) 2024-04-08

Family

ID=83462180

Family Applications (4)

Application Number Title Priority Date Filing Date
KR1020210047136A KR102449047B1 (en) 2021-04-12 2021-04-12 Method and Server for Obstacle Avoidance Driving Control of Moving Vehicle
KR1020220121529A KR102479390B1 (en) 2021-04-12 2022-09-26 Server for controlling movement of mobile robot against non-avoidable obstacles, method and program
KR1020220161853A KR102510840B1 (en) 2021-04-12 2022-11-28 Server for controlling autonomous driving of mobile robot in non-avoidable obstacles that are not damaged when hit, method and program
KR1020230032431A KR102521714B1 (en) 2021-04-12 2023-03-13 Moving device equipped with obstacle avoidance self-determination solution based artificial intelligence and point cloud, method thereof

Family Applications Before (3)

Application Number Title Priority Date Filing Date
KR1020210047136A KR102449047B1 (en) 2021-04-12 2021-04-12 Method and Server for Obstacle Avoidance Driving Control of Moving Vehicle
KR1020220121529A KR102479390B1 (en) 2021-04-12 2022-09-26 Server for controlling movement of mobile robot against non-avoidable obstacles, method and program
KR1020220161853A KR102510840B1 (en) 2021-04-12 2022-11-28 Server for controlling autonomous driving of mobile robot in non-avoidable obstacles that are not damaged when hit, method and program

Country Status (1)

Country Link
KR (4) KR102449047B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115639825A (en) * 2022-11-02 2023-01-24 神顶科技（南京）有限公司 Obstacle avoidance method and system for robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130045290A (en) 2013-03-11 2013-05-03 주식회사 엔티리서치 Autonomously travelling mobile robot
KR20180023302A (en) * 2016-08-25 2018-03-07 엘지전자 주식회사 Moving robot and control method thereof
KR20180055305A (en) * 2016-11-16 2018-05-25 삼성전자주식회사 Method and apparatus for controlling movement of electronic equipment

Also Published As

Publication number Publication date
KR102510840B1 (en) 2023-03-16
KR20230042674A (en) 2023-03-29
KR102521714B1 (en) 2023-04-14
KR102510840B9 (en) 2024-04-08
KR20220166235A (en) 2022-12-16
KR102449047B1 (en) 2022-09-29
KR20220141261A (en) 2022-10-19
KR102479390B1 (en) 2022-12-20

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Legal Events

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A107 Divisional application of patent
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]