WO2019172733A3 - 감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법 - Google Patents

감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법 Download PDF

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Publication number
WO2019172733A3
WO2019172733A3 PCT/KR2019/005474 KR2019005474W WO2019172733A3 WO 2019172733 A3 WO2019172733 A3 WO 2019172733A3 KR 2019005474 W KR2019005474 W KR 2019005474W WO 2019172733 A3 WO2019172733 A3 WO 2019172733A3
Authority
WO
WIPO (PCT)
Prior art keywords
sensed
subject
moving robot
movement
sound
Prior art date
Application number
PCT/KR2019/005474
Other languages
English (en)
French (fr)
Other versions
WO2019172733A2 (ko
Inventor
정재윤
Original Assignee
엘지전자 주식회사
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 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to PCT/KR2019/005474 priority Critical patent/WO2019172733A2/ko
Priority to KR1020190111707A priority patent/KR20190110075A/ko
Publication of WO2019172733A2 publication Critical patent/WO2019172733A2/ko
Priority to US16/598,885 priority patent/US20200039074A1/en
Publication of WO2019172733A3 publication Critical patent/WO2019172733A3/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
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition 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
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • B25J11/0085—Cleaning
    • 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
    • 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
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • 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
    • 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
    • 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)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

본 발명은 주행 가능한 이동로봇이 주행할 때, 이동로봇에 대한 감정적 표현이 가능한 움직이는 감지대상체의 움직임 또는 음향 변화를 수집하고, 수집된 정보를 학습할 수 있다. 즉, 청소 가능한 이동로봇이 움직이는 물체인 감지대상체와 상호 작용이 가능해질 수 있으며, 이동로봇의 본체와 감지대상체가 일정 거리 내에 위치하고, 감지대상체의 음향 또는 움직임이 부정적으로 변화하면 본체의 움직임을 제어하여 감지대상체가 이동로봇에 대한 부정적 반응을 최소화할 수 있는 상호작용이 가능한 감지대상체의 음향 또는 움직임의 변화여부를 선택하여 감지대상체의 음향 또는 움직임이 변화하지 않은 경우 본체의 움직임을 추가로 제어하지 않고 지속적으로 구동할 수 있도록 하여 이동로봇의 기능이 유지될 수 있도록 할 수 있다.
PCT/KR2019/005474 2019-05-08 2019-05-08 감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법 WO2019172733A2 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/KR2019/005474 WO2019172733A2 (ko) 2019-05-08 2019-05-08 감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법
KR1020190111707A KR20190110075A (ko) 2019-05-08 2019-09-09 감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법
US16/598,885 US20200039074A1 (en) 2019-05-08 2019-10-10 Interaction between mobile robot and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2019/005474 WO2019172733A2 (ko) 2019-05-08 2019-05-08 감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법

Publications (2)

Publication Number Publication Date
WO2019172733A2 WO2019172733A2 (ko) 2019-09-12
WO2019172733A3 true WO2019172733A3 (ko) 2020-03-26

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PCT/KR2019/005474 WO2019172733A2 (ko) 2019-05-08 2019-05-08 감지대상체와 상호작용이 가능한 이동로봇 및 이동로봇과 감지대상체의 상호작용 방법

Country Status (3)

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US (1) US20200039074A1 (ko)
KR (1) KR20190110075A (ko)
WO (1) WO2019172733A2 (ko)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107553497B (zh) * 2017-10-20 2023-12-22 苏州瑞得恩光能科技有限公司 太阳能面板清扫机器人的边缘定位装置及其定位方法
KR102408398B1 (ko) * 2021-12-01 2022-06-14 (주)디로펫 인공지능 기반 반려동물 짖음 방지 로봇 제어 방법, 장치 및 시스템

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000202790A (ja) * 1999-01-14 2000-07-25 Sharp Corp ロボット装置
KR100769909B1 (ko) * 2006-09-06 2007-10-24 엘지전자 주식회사 이동 로봇 및 그 동작방법
KR20180076450A (ko) * 2016-12-28 2018-07-06 한국기계연구원 로봇의 충돌 방지 장치 및 방법
KR20180098040A (ko) * 2017-02-24 2018-09-03 엘지전자 주식회사 이동 로봇 및 그 제어방법
KR20190046201A (ko) * 2017-10-25 2019-05-07 엘지전자 주식회사 장애물을 학습하는 인공지능 이동 로봇 및 그 제어방법

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Publication number Priority date Publication date Assignee Title
JP4231320B2 (ja) * 2003-03-31 2009-02-25 本田技研工業株式会社 移動体の検出装置
JP5080333B2 (ja) * 2007-04-06 2012-11-21 本田技研工業株式会社 自律移動体のための物体認識装置
WO2014008929A1 (de) * 2012-07-10 2014-01-16 Siemens Aktiengesellschaft Roboteranordnung und verfahren zum steuern eines roboters
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US10016896B2 (en) * 2016-06-30 2018-07-10 Brain Corporation Systems and methods for robotic behavior around moving bodies

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000202790A (ja) * 1999-01-14 2000-07-25 Sharp Corp ロボット装置
KR100769909B1 (ko) * 2006-09-06 2007-10-24 엘지전자 주식회사 이동 로봇 및 그 동작방법
KR20180076450A (ko) * 2016-12-28 2018-07-06 한국기계연구원 로봇의 충돌 방지 장치 및 방법
KR20180098040A (ko) * 2017-02-24 2018-09-03 엘지전자 주식회사 이동 로봇 및 그 제어방법
KR20190046201A (ko) * 2017-10-25 2019-05-07 엘지전자 주식회사 장애물을 학습하는 인공지능 이동 로봇 및 그 제어방법

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US20200039074A1 (en) 2020-02-06
WO2019172733A2 (ko) 2019-09-12
KR20190110075A (ko) 2019-09-27

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