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WO2021020674A1 - Robot mobile et procédé de calcul de distance de déplacement de robot mobile - Google Patents

Robot mobile et procédé de calcul de distance de déplacement de robot mobile Download PDF

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Publication number
WO2021020674A1
WO2021020674A1 PCT/KR2020/001347 KR2020001347W WO2021020674A1 WO 2021020674 A1 WO2021020674 A1 WO 2021020674A1 KR 2020001347 W KR2020001347 W KR 2020001347W WO 2021020674 A1 WO2021020674 A1 WO 2021020674A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
spin
center
disposed
sensing module
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2020/001347
Other languages
English (en)
Korean (ko)
Inventor
장재원
함승록
김영빈
이영재
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
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 KR1020190176630A external-priority patent/KR20210015599A/ko
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Priority to CN202080054810.9A priority Critical patent/CN114174011B/zh
Priority to AU2020321757A priority patent/AU2020321757B2/en
Publication of WO2021020674A1 publication Critical patent/WO2021020674A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • 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 sensing module may be located on a virtual center vertical line perpendicular to the center horizontal line at a center of a virtual center horizontal line connecting the spin rotation axis of the left spin map and the spin rotation axis of the right spin map.
  • the sensing module may further include a lower image sensor for obtaining lower image data.
  • the downward image sensor can measure the position change of the mobile robot at a specific time.
  • the control unit may calculate the instantaneous slip rate from the position change, and calculate the final moving distance by correcting the moving distance of the mobile robot that does not take into account the slip rate. Alternatively, the control unit may directly calculate the final moving distance based on the measured position change amount.
  • the moving distance is calculated by the number of rotations of the caster wheel, thereby providing a more accurate final moving distance.
  • a wheel sensor that measures the number of rotations of the caster wheel
  • FIG. 2 is a perspective view showing the bottom of the mobile robot
  • FIG. 10 is a block diagram schematically showing a moving distance correction method according to a fourth embodiment
  • the present invention may further include a battery (not shown) that supplies power to the mop motor and the sweep module 200.
  • the inclination direction of the lower side of the left spinmap 41a, 120a forms an inclined angle Ag1a in a counterclockwise direction with respect to the left-right axis
  • the right spinmap ( 41b) The inclined direction of the lower side of 120b forms an inclined angle Ag1b in a clockwise direction with respect to the left-right axis.
  • the sweep module 2000 is disposed in front of the spin mops 41, the battery, the water tank 81, and the right and left mops motors in the body.
  • the lower image sensor 130 may be located behind a virtual front horizontal line (FHL) connecting the front end of the left spin map 41a and the front end of the right spin map 41b.
  • FHL virtual front horizontal line
  • CHL center horizontal line
  • the moving distance of the mobile robot is proportional to the angular speed and number of revolutions of the rotating plate 412.
  • the mobile robot 1 moves in a certain direction, and when the rotational directions of the left/right spinmaps 41b and 41 are the same, the mobile robot ( 1) This can be rotated.
  • the angular speed of the rotating plate 412 increases, the speed of the mobile robot also increases.
  • the number of rotations of the rotating plate 412 increases, the moving distance of the mobile robot increases.
  • the first sensor and the second sensor are separated, and if there is only translational motion, the first sensor and the second sensor acquire the same data, but if the rotational motion is involved, the first sensor and the second sensor acquire different data. do.
  • the controller 200 may measure or correct the rotation angle ⁇ 'of the mobile robot through a difference between data acquired by the first sensor and the second sensor.
  • the control unit 200 receives one or more of the tilt, rotation direction, rotation speed, or rotation speed of the rotation plate 412 from the encoder connected to the spinmap 41 (S100), and the movement distance L without considering the slip rate (L ') or the rotation angle ⁇ 'may be calculated (S200).

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

Abstract

La présente invention concerne un robot mobile et un procédé de mesure de la distance de déplacement du robot mobile, ainsi qu'un robot mobile et un procédé de mesure de la distance de déplacement du robot mobile, le robot mobile comprenant : un balai-éponge rotatif qui présente une plaque de rotation pouvant se mettre en rotation latéralement de façon à coulisser et à se déplacer ; un codeur, qui acquiert une ou plusieurs données à partir de la plaque de rotation de façon à les transmettre à une unité de commande ; un module de détection, qui détecte une situation externe de façon à acquérir des données concernant une distance de déplacement et/ou une vitesse de déplacement pendant une période de temps prédéfinie ; et l'unité de commande pour traiter des données, et calculer ainsi une distance de déplacement ou un angle de rotation à partir des données acquises par le codeur, et corriger la distance de déplacement ou l'angle de rotation sur la base des données acquises par le module de détection, de façon à calculer une distance de déplacement finale précise ou un angle de rotation précis.
PCT/KR2020/001347 2019-07-31 2020-01-29 Robot mobile et procédé de calcul de distance de déplacement de robot mobile Ceased WO2021020674A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202080054810.9A CN114174011B (zh) 2019-07-31 2020-01-29 移动机器人
AU2020321757A AU2020321757B2 (en) 2019-07-31 2020-01-29 Mobile robot and method for calculating moving distance of mobile robot

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
KR10-2019-0093483 2019-07-31
KR20190093483 2019-07-31
KR20190093487 2019-07-31
KR10-2019-0093487 2019-07-31
KR1020190176630A KR20210015599A (ko) 2019-07-31 2019-12-27 이동로봇 및 이동로봇의 이동거리 산출방법
KR10-2019-0176630 2019-12-27

Publications (1)

Publication Number Publication Date
WO2021020674A1 true WO2021020674A1 (fr) 2021-02-04

Family

ID=74228247

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/001347 Ceased WO2021020674A1 (fr) 2019-07-31 2020-01-29 Robot mobile et procédé de calcul de distance de déplacement de robot mobile

Country Status (1)

Country Link
WO (1) WO2021020674A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115718438A (zh) * 2021-08-24 2023-02-28 青岛海尔科技有限公司 拖把盆的控制方法和装置、存储介质及电子装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040039093A (ko) * 2002-10-31 2004-05-10 삼성광주전자 주식회사 로봇청소기와, 그 시스템 및 제어방법
KR20120059427A (ko) * 2010-11-30 2012-06-08 주식회사 유진로봇 이동 로봇의 슬립 감지 장치 및 방법
KR20180008250A (ko) * 2016-07-14 2018-01-24 엘지전자 주식회사 이동로봇 및 그 제어방법
US20190033869A1 (en) * 2017-07-25 2019-01-31 Neato Robotics, Inc. Robot with rotational/translation movement
KR20190015932A (ko) * 2017-08-07 2019-02-15 엘지전자 주식회사 청소기

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040039093A (ko) * 2002-10-31 2004-05-10 삼성광주전자 주식회사 로봇청소기와, 그 시스템 및 제어방법
KR20120059427A (ko) * 2010-11-30 2012-06-08 주식회사 유진로봇 이동 로봇의 슬립 감지 장치 및 방법
KR20180008250A (ko) * 2016-07-14 2018-01-24 엘지전자 주식회사 이동로봇 및 그 제어방법
US20190033869A1 (en) * 2017-07-25 2019-01-31 Neato Robotics, Inc. Robot with rotational/translation movement
KR20190015932A (ko) * 2017-08-07 2019-02-15 엘지전자 주식회사 청소기

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115718438A (zh) * 2021-08-24 2023-02-28 青岛海尔科技有限公司 拖把盆的控制方法和装置、存储介质及电子装置

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