WO2018124682A3 - 이동 로봇 및 그 제어방법 - Google Patents

이동 로봇 및 그 제어방법 Download PDF

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Publication number
WO2018124682A3
WO2018124682A3 PCT/KR2017/015447 KR2017015447W WO2018124682A3 WO 2018124682 A3 WO2018124682 A3 WO 2018124682A3 KR 2017015447 W KR2017015447 W KR 2017015447W WO 2018124682 A3 WO2018124682 A3 WO 2018124682A3
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WO
WIPO (PCT)
Prior art keywords
obstacle
mobile robot
unit
obstacles
type
Prior art date
Application number
PCT/KR2017/015447
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English (en)
French (fr)
Other versions
WO2018124682A2 (ko
Inventor
김정환
김재원
김현지
Original Assignee
엘지전자 주식회사
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Publication date
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to US16/473,758 priority Critical patent/US11226633B2/en
Publication of WO2018124682A2 publication Critical patent/WO2018124682A2/ko
Publication of WO2018124682A3 publication Critical patent/WO2018124682A3/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/003—Controls for manipulators by means of an audio-responsive input
    • 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
    • B25J19/06—Safety 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
    • B25J19/06—Safety devices
    • B25J19/061—Safety devices with audible signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • 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
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본 발명은 이동 로봇 및 그 제어방법에 관한 것으로, 주행방향에 위치한 장애물을 감지하는 센서부, 상기 센서부에 의해 상기 장애물 감지 시, 상기 장애물을 촬영하는 카메라, 상기 데이터부에 저장된 데이터를 바탕으로 상기 장애물은 인식하여 동작을 제어하는 제어부를 포함하고, 상기 제어부는, 상기 카메라를 통해 촬영된 상기 장애물의 영상을 분석하여 상기 데이터부에 저장되는 데이터와 비교하여 상기 장애물을 인식하고 상기 장애물의 종류를 판단하는 장애물 인식부 및 상기 장애물 인식부에 의해 인식된 상기 장애물의 종류에 대응하여 상기 데이터부에 저장된 설정에 따라 지정된 동작이 수행되도록 하는 모션제어부를 포함하여, 장애물을 인식하여 그 종류를 판단하고, 장애물의 종류에 따라 동작을 상이하게 수행하여 장애물에 효과적으로 대응할 수 있고, 청소효율을 향상시키고 이동 로봇이 단시간에 장애물을 인식하고 그 종류를 판단할 수 있으며, 장애물의 종류에 따라 대응하는 동작을 사용자가 수정할 수 있고, 장애물의 특성, 청소영역 또는 주변 환경에 적합한 동작을 수행할 수 있다.
PCT/KR2017/015447 2016-12-26 2017-12-26 이동 로봇 및 그 제어방법 WO2018124682A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/473,758 US11226633B2 (en) 2016-12-26 2017-12-26 Mobile robot and method of controlling the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020160179205A KR20180075176A (ko) 2016-12-26 2016-12-26 이동 로봇 및 그 제어방법
KR10-2016-0179205 2016-12-26

Publications (2)

Publication Number Publication Date
WO2018124682A2 WO2018124682A2 (ko) 2018-07-05
WO2018124682A3 true WO2018124682A3 (ko) 2018-08-23

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Country Status (3)

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US (1) US11226633B2 (ko)
KR (1) KR20180075176A (ko)
WO (1) WO2018124682A2 (ko)

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KR20200075140A (ko) * 2018-12-12 2020-06-26 엘지전자 주식회사 인공지능 이동 로봇 및 이의 제어 방법
KR102514499B1 (ko) * 2018-12-12 2023-03-27 엘지전자 주식회사 인공지능 이동 로봇 및 이의 제어 방법
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CN111930127B (zh) * 2020-09-02 2021-05-18 广州赛特智能科技有限公司 一种机器人障碍物识别及避障方法
CN112269379B (zh) * 2020-10-14 2024-02-27 北京石头创新科技有限公司 障碍物识别信息反馈方法
JP2022100650A (ja) * 2020-12-24 2022-07-06 トヨタ自動車株式会社 荷物搬送システム、荷物搬送方法および荷物搬送プログラム
CN113106907B (zh) * 2021-04-30 2022-07-15 广东美房智高机器人有限公司 机器人对障碍物识别与处理方法、系统、设备及介质
CN113616119B (zh) * 2021-08-23 2023-04-07 追觅创新科技(苏州)有限公司 移动机器人的清扫方法及装置、存储介质、电子装置
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US20190332119A1 (en) 2019-10-31
US11226633B2 (en) 2022-01-18
WO2018124682A2 (ko) 2018-07-05
KR20180075176A (ko) 2018-07-04

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