WO2020222490A3 - Mobile robot - Google Patents

Mobile robot Download PDF

Info

Publication number
WO2020222490A3
WO2020222490A3 PCT/KR2020/005554 KR2020005554W WO2020222490A3 WO 2020222490 A3 WO2020222490 A3 WO 2020222490A3 KR 2020005554 W KR2020005554 W KR 2020005554W WO 2020222490 A3 WO2020222490 A3 WO 2020222490A3
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
distance information
unit
travelling
present
Prior art date
Application number
PCT/KR2020/005554
Other languages
French (fr)
Korean (ko)
Other versions
WO2020222490A2 (en
Inventor
정우철
박상현
Original Assignee
에브리봇 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 에브리봇 주식회사 filed Critical 에브리봇 주식회사
Publication of WO2020222490A2 publication Critical patent/WO2020222490A2/en
Publication of WO2020222490A3 publication Critical patent/WO2020222490A3/en

Links

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
    • B25J11/0085—Cleaning
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • 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
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B25J9/1656—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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • 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
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a mobile robot, and more specifically, to a mobile robot capable of travelling autonomously. The mobile robot, travelling on a floor surface, of the present invention comprises: a main body unit; a first drive unit provided to the main body unit and generating power so as to enable the mobile robot to travel; a distance information acquisition unit for acquiring distance information between the mobile robot and an object therearound; and a control unit for controlling the first drive unit and the distance information acquisition unit, wherein the distance information is acquired from the respective directions towards which a plurality of first straight lines are oriented, the plurality of first straight lines being present on a plane or curved surface forming an angle with a floor surface, and the control unit may set the travelling direction of the mobile robot and may control the first drive unit so that the mobile robot travels on the basis of the set travelling direction and the acquired distance information.
PCT/KR2020/005554 2019-04-30 2020-04-28 Mobile robot WO2020222490A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0050838 2019-04-30
KR1020190050838A KR20200130884A (en) 2019-04-30 2019-04-30 Mobile Robot

Publications (2)

Publication Number Publication Date
WO2020222490A2 WO2020222490A2 (en) 2020-11-05
WO2020222490A3 true WO2020222490A3 (en) 2020-12-30

Family

ID=73028964

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/005554 WO2020222490A2 (en) 2019-04-30 2020-04-28 Mobile robot

Country Status (2)

Country Link
KR (1) KR20200130884A (en)
WO (1) WO2020222490A2 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040087579A (en) * 2003-04-08 2004-10-14 엘지전자 주식회사 Obstacle detection apparatus for mobile robot
US20170225321A1 (en) * 2016-02-09 2017-08-10 Cobalt Robotics Inc. Mobile Robot Map Generation
KR20170103556A (en) * 2016-03-04 2017-09-13 엘지전자 주식회사 Moving robot and controlling method thereof
KR101800274B1 (en) * 2016-02-17 2017-12-28 주식회사 파인로보틱스 Floor polishing robot
US20180189565A1 (en) * 2015-08-28 2018-07-05 Imperial College Of Science, Technology And Medicine Mapping a space using a multi-directional camera

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040087579A (en) * 2003-04-08 2004-10-14 엘지전자 주식회사 Obstacle detection apparatus for mobile robot
US20180189565A1 (en) * 2015-08-28 2018-07-05 Imperial College Of Science, Technology And Medicine Mapping a space using a multi-directional camera
US20170225321A1 (en) * 2016-02-09 2017-08-10 Cobalt Robotics Inc. Mobile Robot Map Generation
KR101800274B1 (en) * 2016-02-17 2017-12-28 주식회사 파인로보틱스 Floor polishing robot
KR20170103556A (en) * 2016-03-04 2017-09-13 엘지전자 주식회사 Moving robot and controlling method thereof

Also Published As

Publication number Publication date
KR20200130884A (en) 2020-11-23
WO2020222490A2 (en) 2020-11-05

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