WO2021133105A1 - Dispositif de robot mobile et son procédé de commande - Google Patents

Dispositif de robot mobile et son procédé de commande Download PDF

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Publication number
WO2021133105A1
WO2021133105A1 PCT/KR2020/019099 KR2020019099W WO2021133105A1 WO 2021133105 A1 WO2021133105 A1 WO 2021133105A1 KR 2020019099 W KR2020019099 W KR 2020019099W WO 2021133105 A1 WO2021133105 A1 WO 2021133105A1
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WO
WIPO (PCT)
Prior art keywords
mobile robot
robot device
target rpm
motor
processor
Prior art date
Application number
PCT/KR2020/019099
Other languages
English (en)
Korean (ko)
Inventor
이철준
Original Assignee
삼성전자주식회사
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 KR1020200182604A external-priority patent/KR20210082118A/ko
Application filed by 삼성전자주식회사 filed Critical 삼성전자주식회사
Publication of WO2021133105A1 publication Critical patent/WO2021133105A1/fr

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    • 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
    • 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
    • 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

Definitions

  • the present disclosure relates to a mobile robot apparatus and a control method thereof, and more particularly, to a mobile robot apparatus and a control method thereof for reducing shaking of a main body during driving.
  • the existing mobile robot has wheels on the floor and electronic devices are placed on it.
  • stable driving is possible, but there is a problem in that the turning radius is large and cannot be returned to the original position in case of a fall.
  • the space occupied by the wheels compared to the overall size of the mobile robot was small, and accordingly, it was not possible to overcome obstacles such as thresholds and to move on non-hard floors such as carpets.
  • the conventional robot has a vibration according to the rotational inertia force and action and reaction, so there is a limit in which stable driving and information collection cannot be performed.
  • the present disclosure is to solve the above-described problems, and an object of the present disclosure is to improve stable driving and quality of images captured by a camera included in the main body by reducing shaking of the main body, and a method for controlling the same is to provide.
  • a mobile robot device includes a main body including a motor, a driving force provided through the motor, and first and second wheels disposed on both sides of the main body ,
  • the motor is controlled based on first speed information included in the driving signal, and the inclination detected by the sensor is a preset range and a processor for updating the first speed information based on the slope.
  • the processor calculates a first target RPM for the motor based on the first speed information, calculates a second target RPM corresponding to the slope, and calculates the first target RPM and the second target RPM.
  • the first speed information may be updated with the sum of RPMs.
  • the processor may calculate the second target RPM based on the pitch angle of the main body sensed through the sensor.
  • the processor may calculate the second target RPM so that a preset pitch angle of the main body is maintained when the mobile robot device travels at a constant speed.
  • the processor may calculate the second target RPM so that a pitch angle corresponding to an acceleration value is maintained when the mobile robot apparatus accelerates traveling.
  • the mobile robot device further includes an image pickup device that captures an image
  • the processor obtains a location of the object to be photographed based on the image photographed by the image pickup device, and travels along the obtained location
  • the motor can be controlled to do so.
  • the processor may stop acquiring the position of the object to be photographed while the mobile robot device accelerates.
  • control method of the mobile robot device when a driving signal for the mobile robot device is input, controlling a motor based on first speed information included in the driving signal; It may include detecting the inclination of the main body of the mobile robot device through the step and updating the first speed information based on the inclination when the inclination detected by the sensor is within a preset range.
  • the updating includes calculating a first target RPM for the motor based on the first speed information and calculating a second target RPM corresponding to the slope,
  • the first speed information may be updated as the sum of the target RPM and the second target RPM.
  • the calculating of the second target RPM may include calculating the second target RPM based on a pitch angle of the main body sensed through the sensor.
  • the calculating of the second target RPM may include calculating the second target RPM so that a preset pitch angle of the main body is maintained when the mobile robot device travels at a constant speed.
  • the calculating of the second target RPM may include calculating the second target RPM so that a pitch angle corresponding to an acceleration value is maintained when the mobile robot apparatus accelerates traveling.
  • control method further comprising the step of obtaining the position of the photographing target based on the image photographed by the imaging device, the step of controlling the motor, the mobile robot device to determine the position of the obtained photographing object
  • the motor may be controlled to drive along.
  • the controlling of the motor may stop acquiring the position of the object to be photographed while the mobile robot device accelerates driving.
  • the program includes a second information included in the travel signal when a travel signal for the mobile robot apparatus is input. 1 Controlling a motor based on speed information, detecting a tilt of the main body of the mobile robot device through a sensor, and when the tilt detected by the sensor is within a preset range, the first speed information based on the tilt including updating.
  • FIG. 1 is a perspective view schematically illustrating a mobile robot device according to an embodiment of the present disclosure.
  • FIG. 2 is a block diagram illustrating a configuration of a mobile robot apparatus according to an embodiment of the present disclosure.
  • FIG. 3 is a front view of the mobile robot device of FIG. 1 .
  • FIG. 4 is a rear view of the mobile robot device of FIG. 1 .
  • FIG 5 is a view for explaining a case in which the mobile robot device travels at a constant speed according to an embodiment of the present disclosure.
  • FIG. 6 is a view for explaining a case in which the mobile robot device accelerates and travels according to an embodiment of the present disclosure.
  • FIG. 7 is a view for explaining a case in which the mobile robot device travels while decelerating according to an embodiment of the present disclosure.
  • FIG. 8 is a view for explaining a method of controlling a mobile robot apparatus according to an embodiment of the present disclosure.
  • each step should be understood as non-limiting unless the preceding step must be logically and temporally performed before the subsequent step. That is, except for the above exceptional cases, even if the process described as a subsequent step is performed before the process described as the preceding step, the essence of the disclosure is not affected, and the scope of rights should also be defined regardless of the order of the steps.
  • expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.
  • first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms may be used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.
  • the present specification describes components necessary for the description of each embodiment of the present disclosure, the present disclosure is not necessarily limited thereto. Accordingly, some components may be changed or omitted, and other components may be added. Also, they may be distributed and arranged in different independent devices.
  • FIGS. 1 to 8 the present disclosure will be described in detail with reference to FIGS. 1 to 8 .
  • FIG. 1 is a perspective view schematically illustrating a mobile robot device according to an embodiment of the present disclosure.
  • the mobile robot device 1 is a device having various functions, such as recognizing a surrounding environment, capable of autonomous driving and information collection, and transmitting information to a user.
  • the mobile robot device 1 may recognize the surrounding environment based on voice, sound, and image recognition. In addition, information can be transmitted to the user by controlling other electronic products or outputting voice through wireless communication.
  • the mobile robot device 1 can be physically moved through a driving unit including a motor, wheels, and the like, thereby executing various functions of the mobile robot device 1 throughout the user's environment including indoors and outdoors.
  • a driving unit including a motor, wheels, and the like
  • the mobile robot device 1 When the mobile robot device 1 is used in the home, it interacts with electronic products such as TVs, vacuum cleaners, and washing machines placed in the home to execute functions and collect information, and transmit the collected information to family members including pets. can As a result, it is possible to connect all members of the home and electronic products.
  • electronic products such as TVs, vacuum cleaners, and washing machines placed in the home to execute functions and collect information, and transmit the collected information to family members including pets.
  • the mobile robot device 1 can connect the user with family members who need help, including pets, by continuously checking and inspecting the environment in the home even when the user is absent. In addition, it is possible to check and operate other home appliances in the home through physical movement. Through this, it is possible to promote safety in the home and strengthen security.
  • the mobile robot apparatus 1 may be implemented in a form of performing work at home, but is not limited thereto, and may be implemented as a robot apparatus according to various embodiments.
  • a mobile robot apparatus 1 includes a main body 10 , first wheels 121 and second wheels 122 respectively disposed on both sides of the main body 10 . , an upper cover 11 , a lower cover 12 , a first side cover 131 , and a second side cover 132 surrounding the imaging device 200 and the body 10 .
  • the mobile robot device 1 may enable autonomous driving by collecting and analyzing various information such as sounds, voices, and images in the surrounding environment.
  • the processor 400 of the mobile robot apparatus 1 is configured to perform the mobile robot apparatus 1 based on information about the surrounding environment collected through the imaging device 200 , the sensor 300 , the microphone 700 , and the like. By controlling it, you can drive stably or perform various functions. A detailed description of an operation in which the mobile robot device 1 collects information about the surrounding environment will be described later.
  • the mobile robot apparatus 1 may include a plurality of covers 11 , 12 , 131 , and 132 surrounding the main body 10 .
  • the plurality of covers 11 , 12 , 131 , and 132 may have the same curvature, and thus the overall appearance of the mobile robot device 1 may be arranged to form a sphere.
  • the surface of the lower cover 12 disposed under the body 10 may not have a shape constituting a part of the sphere. A detailed description of the shape of the lower cover 12 will be described later with reference to FIGS. 3 to 4 .
  • the first and second side covers 131 and 132 may be disposed to surround the side surfaces of the first and second wheels 121 and 122, respectively.
  • the first wheel 121 may be coupled to the first side cover 131
  • the second wheel 122 may be coupled to the second side cover 132 .
  • the first wheel 121 may be connected to a first motor (not shown), and the second wheel 122 may be connected to a second motor (not shown), and may rotate at the same speed or at different speeds. .
  • FIG. 2 is a block diagram illustrating a configuration of a mobile robot apparatus according to an embodiment of the present disclosure.
  • the mobile robot device 1 includes a driving unit 100 , an imaging device 200 , a sensor 300 , a processor 400 , a memory 500 , a communication interface 600 , and a microphone 700 .
  • a driving unit 100 may include
  • the driving unit 100 is configured to drive the mobile robot device 1, and includes a motor (not shown) providing driving force, first and second wheels 121 and 122 connected to the motor, a battery, and an actuator. , gears, bearings, etc. may be included.
  • the imaging device 200 may recognize the surrounding environment and collect information about the surrounding environment through image capturing.
  • the processor 400 obtains the position of the object to be photographed based on the image photographed through the imaging device 200 , and controls the motor so that the mobile robot device 1 travels along the position of the object to be photographed.
  • the imaging device 200 may be a camera (eg, a mono camera, a stereo camera, etc.) that acquires an image of the surrounding space.
  • the sensor 300 may generate and output an electrical signal for the detection result.
  • the sensor 300 may transmit an electrical signal to the processor 400 or store the detection result in the memory 500 of the mobile robot device 1 or an external device.
  • the sensor 300 may include a gyro sensor, an acceleration sensor, and the like for detecting the inclination of the body 10 .
  • the processor 400 may control the overall operation of the mobile robot apparatus 1 .
  • the processor 400 includes a RAM (not shown), a ROM (not shown), a graphic processing unit (not shown), a main CPU (not shown), first to n interfaces (not shown), and a bus (not shown).
  • RAM not shown
  • ROM not shown
  • graphic processing unit not shown
  • main CPU not shown
  • first to n interfaces not shown
  • etc. may be connected to each other through a bus (not shown). .
  • the processor 400 may control the driving of the motor to control the driving of the mobile robot apparatus 1 .
  • the processor 400 controls the first and second motors to rotate the first and second wheels 121 and 122 in the same rotational direction and at the same speed so that the mobile robot device 1 moves in the +Y-axis direction. can be driven in a straight line.
  • the processor 400 may control the first and second wheels 121 and 122 to rotate in a direction opposite to the above-described rotational direction so that the mobile robot device 1 travels backward in the -Y-axis direction.
  • the processor 400 may change the traveling direction of the mobile robot device 1 by controlling the first and second wheels 121 and 122 to rotate at different speeds, and the first and second wheels 121 and 122 may By controlling the 122 to rotate in different directions, the mobile robot device 1 can be rotated in place.
  • the processor 400 controls the motor based on first speed information included in the driving signal, and the inclination of the body 10 detected by the sensor 300 . If is within a preset range, the first speed information may be updated based on the detected inclination.
  • the processor controls the motor so that the traveling speed of the mobile robot device 1 achieves the input first speed, and based on the inclination of the body 10 sensed through the sensor 300 while driving, the main body ( If the change in inclination of 10) is greater than or equal to a preset range, the motor may be controlled to change the traveling speed of the mobile robot apparatus 1 based on the detected inclination.
  • the motor may be controlled to change the traveling speed of the mobile robot apparatus 1 based on the detected inclination.
  • Various instructions, programs, or data required for the operation of the mobile robot device 1 or the processor 400 may be stored in the memory 500 .
  • information acquired by the sensor 300 and data received from an external electronic device may be stored in the memory 500 .
  • the memory 500 includes volatile memories such as static random access memory (S-RAM) and dynamic random access memory (D-RAM), flash memory, read only memory (ROM), erasable programmable read only memory (EPROM), and EEPROM. It may be implemented as a nonvolatile memory such as (Electrically Erasable Programmable Read Only Memory), a hard disk drive (HDD), or a solid state drive (SSD).
  • S-RAM static random access memory
  • D-RAM dynamic random access memory
  • flash memory read only memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • the memory 500 is accessed by the processor 400 , and reading/writing/modification/deletion/update of data by the processor 400 may be performed.
  • memory in the present disclosure refers to a memory 500, a RAM (not shown) in the processor 400, a ROM (not shown), or a memory card (not shown) mounted in the mobile robot device 1 (eg, micro SD card, memory stick, etc.).
  • the processor 400 and the memory 500 may be implemented as physically separate configurations, or may be implemented as a single configuration such as the processor 400 including the memory 500 .
  • the processor 400 may be implemented as a single configuration or a plurality of configurations as one system.
  • the memory 500 may also be implemented in a single configuration or a plurality of configurations as one system.
  • the communication interface 600 may transmit/receive various types of data by performing communication with an external device (eg, a server, a smart phone, etc.) according to various types of communication methods.
  • an external device eg, a server, a smart phone, etc.
  • the communication interface 600 includes a Bluetooth chip (not shown), a Wi-Fi chip (not shown), a wireless communication chip (not shown) and an NFC chip (not shown) for performing wireless communication, and an Ethernet module for performing wired communication. It may include at least one of (not shown) and a USB module (not shown). In this case, an Ethernet module and a USB module performing wired communication may communicate with an external device through an input/output port (not shown).
  • the input/output port may be implemented as a wired port such as an HDMI port, a display port, an RGB port, a Digital Visual Interface (DVI) port, a Thunderbolt, a LAN port, a USB port, a Lightning cable port, and a component port.
  • the input/output port may transmit/receive various types of data by performing communication with various types of external devices through each communication standard.
  • the microphone 700 may receive sound information generated around the mobile robot device 1 .
  • the microphone 700 may receive a user uttered voice.
  • the main body 10 may include a microphone board (not shown) on which the microphone 700 is disposed. At least one microphone 700 may be disposed on the microphone board. However, the present invention is not limited thereto, and a plurality of microphones 700 may be disposed.
  • the microphone 700 may be located on the inside of the main body 10 .
  • a microphone hole (not shown) may be formed in an upper portion of the upper cover 11 , and the microphone 700 may be disposed in a lower portion of the microphone hole.
  • the mobile robot device 1 is a small robot, as the microphone 700 is disposed on the mobile robot device 1, it may be easy to recognize external sounds in all directions.
  • the four microphones 700 may be disposed to be spaced apart from each other by a predetermined interval on the microphone board.
  • the processor 400 may recognize the direction in which the external sound is generated based on a difference in time for the external sound to reach each of the four microphones 700 .
  • FIG. 3 is a front view of the mobile robot apparatus of FIG. 1
  • FIG. 4 is a rear view of the mobile robot apparatus of FIG. 1 .
  • the imaging device 200 and the like are disposed on the front upper part 13 of the main body 10 , and a button for operation (reference number not provided) is provided on the rear lower part 14 of the main body 10 . ), etc. may be placed.
  • Various sensors such as the imaging device 200 for capturing an image and an indicator such as an LED may be disposed on the front upper portion 13 of the main body 10 .
  • the front upper portion 13 of the main body 10 may be disposed on the main body 10 so as to face the front upper end from the front of the mobile robot device 1 . Accordingly, the imaging device 200 and the sensor disposed on the front upper portion 13 of the main body 10 can be recognized as a whole from the floor to the ceiling of the surrounding environment.
  • a button for operation of the mobile robot device 1 (reference number not assigned), a connector for charging (reference number not assigned), and the state of the mobile robot device 1 are indicated.
  • LED lights for betting may be arranged.
  • the lower surface of the lower cover 12 may be formed to be spaced apart from the floor by a predetermined distance.
  • the lower cover 12 may form a curved surface in the Y-axis direction, but may be flat in the X-axis direction. Accordingly, the main body 10 does not come into contact with the ground, so that the mobile robot device 1 can travel smoothly.
  • the imaging device 200 of the main body 10 can take pictures relatively stably.
  • the body 10 rotates due to inertia and the imaging direction of the imaging device 200 changes. may be changed, and accordingly, the quality of the image acquired through the imaging device 200 may be deteriorated.
  • the processor 400 controls the motor so that the traveling speed of the mobile robot device 1 achieves the input first speed, and based on the inclination of the body 10 detected through the sensor 300 while driving, the main body 10 ), the motor may be controlled to change the traveling speed of the mobile robot apparatus 1 based on the detected inclination when the change in inclination is greater than or equal to a preset range.
  • the processor 400 may control the motor so that the mobile robot device 1 can travel at the input speed by calculating the first target RPM for the motor based on the first speed information included in the driving signal.
  • the processor 400 may detect the inclination of the main body 10 through the sensor 300 .
  • the processor 400 detects the pitch angle of the main body 10 through the sensor 300 , and when the change in the pitch angle is greater than or equal to a preset value, the second target RPM corresponding to the change in the pitch angle is determined. can be calculated.
  • the processor 400 may update the first speed information, that is, the traveling speed of the mobile robot apparatus 1 as a value obtained by adding the first target RPM and the second target RPM.
  • the second target RPM may be calculated so that a preset pitch angle of the main body 10 is maintained. Accordingly, the processor 400 controls the rotation of the motor according to the inclination of the main body 10 to minimize shaking of the main body 10, thereby improving the quality of the image obtained through the imaging device 200. have.
  • the second target RPM may be calculated so that a pitch angle corresponding to the acceleration value is maintained.
  • the main body 10 may rotate upward (a1) or downward (a2), and the second target RPM is maintained so that the rotated pitch angle is maintained during accelerated driving. can be calculated. Accordingly, it is possible to minimize the shaking of the imaging device 200 while the mobile robot apparatus 1 accelerates traveling.
  • the imaging device 200 shoots above the preset shooting direction, when the mobile robot device 1 travels along the location of the target, the imaging device is used to view the target during accelerated travel. It is possible to stop the operation of acquiring the position.
  • the processor 400 may resume the operation of controlling the motor to obtain the position of the imaging target through the imaging device 200 and travel along the position of the imaging target.
  • the processor 400 may control the motor so that the acceleration time is less than 1 second.
  • FIG. 8 is a view for explaining a method of controlling a mobile robot apparatus according to an embodiment of the present disclosure.
  • the method of controlling a mobile robot device includes the steps of, when a driving signal for the mobile robot device is input, controlling a motor based on first speed information included in the driving signal ( S810), detecting the inclination of the main body of the mobile robot device through a sensor (S820), and updating the first speed information based on the inclination if the inclination detected by the sensor is within a preset range (S830).
  • the mobile robot device may control the motor based on first speed information included in the driving signal ( S810 ).
  • the mobile robot device may detect the inclination of the main body through the sensor ( S820 ).
  • the mobile robot device may acquire the pitch angle of the main body through the sensor.
  • the mobile robot apparatus may update the first speed information based on the inclination (S830).
  • the processor may calculate a first target RPM for the motor based on the first speed information, and may calculate a second target RPM corresponding to the inclination sensed through the sensor, the first target RPM and the second target
  • the first speed information may be updated with the sum of the RPMs.
  • the processor may calculate the second target RPM based on the pitch angle of the main body sensed through the sensor.
  • the processor may calculate the second target RPM so that a preset pitch angle of the main body is maintained. Also, when the mobile robot device accelerates, the processor may calculate the second target RPM so that a pitch angle corresponding to the acceleration value is maintained.
  • the processor may obtain a position of the object to be photographed based on the image photographed by the imaging device, and may control the motor to drive the mobile robot device along the obtained position of the object to be photographed. In this case, while the mobile robot device accelerates, acquisition of the position of the object to be photographed may be stopped.
  • computer instructions for performing a processing operation in the mobile robot apparatus may be stored in a non-transitory computer readable medium.
  • the specific device executes the processing operation of the mobile robot device according to the various embodiments described above.
  • the non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device.
  • a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.
  • the method according to various embodiments may be provided by being included in a computer program product.
  • Computer program products may be traded between sellers and buyers as merchandise.
  • the computer program product may be distributed in the form of a machine-readable storage medium (eg, compact disc read only memory (CD-ROM)) or online through an application store (eg, Play StoreTM).
  • an application store eg, Play StoreTM
  • at least a part of the computer program product may be temporarily stored or temporarily created in a storage medium such as a server device of a manufacturer, a server device of an application store, or a memory of a relay server.

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

Abstract

L'invention concerne un dispositif de robot mobile. Le présent dispositif de robot mobile comprend : un corps principal qui a un moteur ; des première et seconde roues qui sont disposées sur les deux surfaces latérales, respectivement, du corps principal et reçoivent une force d'entraînement par l'intermédiaire du moteur ; un capteur qui détecte l'inclinaison du corps principal ; et un processeur qui, lorsqu'un signal de déplacement pour le dispositif de robot mobile est entré, commande le moteur sur la base de premières informations de vitesse incluses dans le signal de déplacement, et si l'inclinaison détectée par le capteur se trouve dans une plage prédéterminée, met à jour les premières informations de vitesse sur la base de l'inclinaison.
PCT/KR2020/019099 2019-12-24 2020-12-24 Dispositif de robot mobile et son procédé de commande WO2021133105A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2019-0174444 2019-12-24
KR20190174444 2019-12-24
KR1020200182604A KR20210082118A (ko) 2019-12-24 2020-12-23 이동 로봇 장치 및 이의 제어 방법
KR10-2020-0182604 2020-12-23

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WO2021133105A1 true WO2021133105A1 (fr) 2021-07-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023219362A1 (fr) * 2022-05-13 2023-11-16 삼성전자 주식회사 Dispositif de station destinée à maintenir un dispositif de nettoyage sans fil et procédé de communication d'un dispositif de station

Citations (5)

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Publication number Priority date Publication date Assignee Title
KR200381929Y1 (ko) * 2005-01-13 2005-04-20 주식회사 다진시스템 2륜 구동로봇
KR20090118818A (ko) * 2008-05-14 2009-11-18 (주)로봇과학클럽 두 바퀴로 균형을 잡는 라인트레이서용 로봇 및 그 제어방법
US20100292840A1 (en) * 2009-05-15 2010-11-18 Beijing University Of Technology Flexible two-wheeled self-balancing robot system and its motion control method
KR20160015435A (ko) * 2014-07-30 2016-02-15 조현권 감시 로봇 시스템
JP2017010529A (ja) * 2015-06-22 2017-01-12 株式会社リコー ロボット、プログラム、情報処理システムおよび方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200381929Y1 (ko) * 2005-01-13 2005-04-20 주식회사 다진시스템 2륜 구동로봇
KR20090118818A (ko) * 2008-05-14 2009-11-18 (주)로봇과학클럽 두 바퀴로 균형을 잡는 라인트레이서용 로봇 및 그 제어방법
US20100292840A1 (en) * 2009-05-15 2010-11-18 Beijing University Of Technology Flexible two-wheeled self-balancing robot system and its motion control method
KR20160015435A (ko) * 2014-07-30 2016-02-15 조현권 감시 로봇 시스템
JP2017010529A (ja) * 2015-06-22 2017-01-12 株式会社リコー ロボット、プログラム、情報処理システムおよび方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023219362A1 (fr) * 2022-05-13 2023-11-16 삼성전자 주식회사 Dispositif de station destinée à maintenir un dispositif de nettoyage sans fil et procédé de communication d'un dispositif de station

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