WO2021107545A3 - 자율 주행 로봇 - Google Patents

자율 주행 로봇 Download PDF

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Publication number
WO2021107545A3
WO2021107545A3 PCT/KR2020/016648 KR2020016648W WO2021107545A3 WO 2021107545 A3 WO2021107545 A3 WO 2021107545A3 KR 2020016648 W KR2020016648 W KR 2020016648W WO 2021107545 A3 WO2021107545 A3 WO 2021107545A3
Authority
WO
WIPO (PCT)
Prior art keywords
module
mobile robot
autonomous mobile
driving
provides
Prior art date
Application number
PCT/KR2020/016648
Other languages
English (en)
French (fr)
Other versions
WO2021107545A2 (ko
Inventor
김병수
하인용
양우식
표윤석
Original Assignee
(주)로보티즈
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
Priority claimed from KR1020200033130A external-priority patent/KR102341218B1/ko
Application filed by (주)로보티즈 filed Critical (주)로보티즈
Publication of WO2021107545A2 publication Critical patent/WO2021107545A2/ko
Publication of WO2021107545A3 publication Critical patent/WO2021107545A3/ko
Priority to US17/741,011 priority Critical patent/US20220266933A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • 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
    • B25J19/0091—Shock absorbers
    • 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
    • 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
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B60G3/28—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram at least one of the arms itself being resilient, e.g. leaf spring
    • B60G3/285—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram at least one of the arms itself being resilient, e.g. leaf spring the arm being essentially parallel to the longitudinal axis of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
    • B60G5/04—Resilient suspensions for a set of tandem wheels or axles having interrelated movements with two or more pivoted arms, the movements of which are resiliently interrelated, e.g. the arms being rigid
    • B60G5/06—Resilient suspensions for a set of tandem wheels or axles having interrelated movements with two or more pivoted arms, the movements of which are resiliently interrelated, e.g. the arms being rigid the arms turning on a common pivot, e.g. being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • B62D61/125—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels the retractable wheel being a part of a set of tandem wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/13—Independent suspensions with longitudinal arms only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/30—Rigid axle suspensions
    • B60G2200/314—Rigid axle suspensions with longitudinally arranged arms articulated on the axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/823—Obstacle sensing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/04—Means for informing, instructing or displaying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40411—Robot assists human in non-industrial environment like home or office
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50393—Floor conveyor, AGV automatic guided vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본 발명의 일실시예는 자율 주행 로봇으로서, 내부에 화물 운송 공간이 마련되며, 커버를 구비한 상부 모듈과, 상기 상부 모듈의 하부에 위치하며 구동력을 제공하는 하부 모듈과, 상기 하부 모듈에 마련되는 주행 모듈과, 상기 주행 모듈의 동작을 제어하는 제어부를 포함하며, 상기 주행 모듈은, 단턱 또는 계단을 극복할 수 있도록 노면 또는 지면에 비동시적으로 접촉할 수 있는 다수 쌍의 바퀴를 가지는 것을 특징으로 하는, 자율 주행 로봇을 제공한다.
PCT/KR2020/016648 2019-11-25 2020-11-24 자율 주행 로봇 WO2021107545A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/741,011 US20220266933A1 (en) 2019-11-25 2022-05-10 Autonomous mobile robot

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2019-0152539 2019-11-25
KR20190152539 2019-11-25
KR1020200033130A KR102341218B1 (ko) 2019-11-25 2020-03-18 자율 주행 로봇
KR10-2020-0033130 2020-03-18

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/741,011 Continuation US20220266933A1 (en) 2019-11-25 2022-05-10 Autonomous mobile robot

Publications (2)

Publication Number Publication Date
WO2021107545A2 WO2021107545A2 (ko) 2021-06-03
WO2021107545A3 true WO2021107545A3 (ko) 2021-07-22

Family

ID=76130650

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/016648 WO2021107545A2 (ko) 2019-11-25 2020-11-24 자율 주행 로봇

Country Status (2)

Country Link
US (1) US20220266933A1 (ko)
WO (1) WO2021107545A2 (ko)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11599845B2 (en) * 2017-03-19 2023-03-07 Gal Zuckerman Systems and methods for autonomously delivering consumer items in disposable packages
WO2021107554A2 (ko) * 2019-11-25 2021-06-03 (주)로보티즈 자율 주행 로봇의 주행 모듈
EP4151374A4 (en) * 2021-08-30 2023-12-20 Samsung Electronics Co., Ltd. MOBILE ROBOT AND ITS CONTROL METHOD
USD1021689S1 (en) * 2022-08-09 2024-04-09 Neubility Robot for delivery of goods
USD1026732S1 (en) * 2022-08-09 2024-05-14 Neubility Robot for delivery of goods
KR20240036777A (ko) * 2022-09-13 2024-03-21 (주)필드로 인공지능 자율주행 배송로봇

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090089713A (ko) * 2008-02-19 2009-08-24 연세대학교 산학협력단 부정형 지형 주행을 위한 지형적응 메커니즘을 이용한이동로봇
JP2011235692A (ja) * 2010-05-07 2011-11-24 Ihi Aerospace Co Ltd 走行ロボット
KR20120127956A (ko) * 2011-05-16 2012-11-26 한국항공우주연구원 로버의 주행 장치
KR20130045290A (ko) * 2013-03-11 2013-05-03 주식회사 엔티리서치 자율주행 이동로봇
KR20150064578A (ko) * 2013-12-03 2015-06-11 한국기술교육대학교 산학협력단 험지 탐사용 서스펜션 및 이를 포함하는 험지 탐사 차량

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DE102015004087B3 (de) * 2015-03-31 2016-12-29 gomtec GmbH Fahrbarer Roboter mit Kollisionserkennung
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090089713A (ko) * 2008-02-19 2009-08-24 연세대학교 산학협력단 부정형 지형 주행을 위한 지형적응 메커니즘을 이용한이동로봇
JP2011235692A (ja) * 2010-05-07 2011-11-24 Ihi Aerospace Co Ltd 走行ロボット
KR20120127956A (ko) * 2011-05-16 2012-11-26 한국항공우주연구원 로버의 주행 장치
KR20130045290A (ko) * 2013-03-11 2013-05-03 주식회사 엔티리서치 자율주행 이동로봇
KR20150064578A (ko) * 2013-12-03 2015-06-11 한국기술교육대학교 산학협력단 험지 탐사용 서스펜션 및 이를 포함하는 험지 탐사 차량

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Publication number Publication date
WO2021107545A2 (ko) 2021-06-03
US20220266933A1 (en) 2022-08-25

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