WO2020122583A1 - Système de robot mobile et son procédé de commande - Google Patents

Système de robot mobile et son procédé de commande Download PDF

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Publication number
WO2020122583A1
WO2020122583A1 PCT/KR2019/017457 KR2019017457W WO2020122583A1 WO 2020122583 A1 WO2020122583 A1 WO 2020122583A1 KR 2019017457 W KR2019017457 W KR 2019017457W WO 2020122583 A1 WO2020122583 A1 WO 2020122583A1
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WO
WIPO (PCT)
Prior art keywords
design
area
robot
travel
lawn
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/KR2019/017457
Other languages
English (en)
Inventor
Jaehoon Lee
Jongil Park
Kyuchun Choi
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
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of WO2020122583A1 publication Critical patent/WO2020122583A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • 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
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps

Definitions

  • the present disclosure relates to a system for a moving robot that autonomously travels in a travel area, and a control method of the moving robot system.
  • a moving robot is a device that automatically performs a predetermined operation while traveling by itself in a predetermined area without a user's operation.
  • the moving robot senses obstacles located in the area and performs its operations by moving close to or away from such obstacles.
  • Such a moving robot may include a cleaning robot that carries out cleaning while traveling in the predetermined area, as well as a moving robot that mows a lawn on a bottom of the predetermined area.
  • lawn mower devices include a riding-type device that moves according to a user's operation to cut a lawn or perform weeding when the user rides on the device, and a work-behind type or hand type device that is manually pushed or pulled by the user to move and cut a lawn.
  • the lawn mower devices move and cut a lawn according to direct operations by a user, the user may inconveniently operate the device directly. Accordingly, research has been conducted on a moving robot-type mower device including elements that cuts a lawn.
  • Such a moving robot for lawn mowing operates outdoors rather than indoors, and thus the moving robot for lawn mowing moves in a wider area compared to a moving robot traveling in an indoor area.
  • a surface of the floor is monotonous (or flat), and factors such as terrain and objects affecting traveling of a moving robot are limited.
  • outdoors since it is an open space, there are many factors affecting traveling of a moving robot, and the traveling of the moving robot is greatly affected by the terrain.
  • the moving robot traveling in such an outdoor environment cuts grass while traveling by itself in a travel area. Due to the unpredictable nature of a wide outdoor environment, it is difficult to evenly cut the grass in the entire area.
  • U.S. Patent Laid-Open Publication No. 2017/ 0344012A1 discloses a lawn mowing robot that divides a travel area into more than one section and cuts a lawn according to the divided sections.
  • the lawn mowing robot only cuts grass according to the divided sections, and a method for cutting the grass in the travel area as desired by a user is not provided, which is not enough to meet needs and expectations of the user.
  • the area to be mowed may be designated on the terminal for controlling the moving robot, so that the moving robot cuts a lawn while traveling in the designated area according to a predetermined operation reference, so that a design specified or selected by a user is created in the cut grass of the designated area.
  • grass in a travel area is cut according to a design desired by a user, thereby achieving the design in the cut grass of the travel area.
  • the moving robot system and the control method of the moving robot system according to the present disclosure can not only obviate limitations of the relate art, but also improve usability, efficiency, effectiveness, and applicability in the technical field of moving robots for lawn mowing.
  • FIG. 1A is a conceptual view illustrating a traveling principle of a moving robot system according to the present disclosure.
  • FIG. 1B is a conceptual diagram illustrating a signal flow between devices to determine a position of a moving robot system according to the present disclosure.
  • FIG. 3B is a configuration view (b) of a moving robot according to an embodiment of the present disclosure.
  • FIG. 3C is a configuration view (c) of a moving robot according to an embodiment of the present disclosure.
  • FIG. 4 is a detailed configuration diagram of the moving robot according to the present disclosure.
  • FIG. 5 is an exemplary view illustrating a control screen according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 6 is an exemplary view illustrating a map screen display according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 7A is an exemplary view (a) illustrating an example of a design according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 7B is an exemplary view (b) illustrating an example of a design according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 7C is an exemplary view (c) illustrating an example of a design according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 7D is an exemplary view (d) illustrating an example of a design according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 8A is an exemplary view (a) illustrating an example of designating a design according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 8B is an exemplary view (b) illustrating an example of designating a design according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 9A is an exemplary view (a) illustrating an example of a result of design mode execution according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 9B is an exemplary view (b) illustrating an example of a result of design mode execution according to an embodiment of the moving robot system according to the present disclosure.
  • FIG. 10 is a flowchart illustrating a sequence for a method of controlling the moving robot system according to the present disclosure.
  • system a moving robot system
  • the robot may refer to a robot capable of autonomous traveling, a lawn-mowing moving robot, a lawn mowing robot, a lawn mowing device, or a moving robot for lawn mowing.
  • the system 1 may be a system of a moving robot (hereinafter referred to as a "robot") that cuts grass in a travel area.
  • the robot may be a lawn mower. That is, the system 1 may be a traveling/control/operation system of a moving robot that cuts a lawn in a travel area.
  • the system 1 includes a terminal 300 displaying a control screen for controlling operation of a robot 100, and the robot 100 operating in response to an input (or manipulation) on the control screen.
  • the terminal 300 displays the control screen for controlling the robot 100 on a display unit of the terminal 300, and the robot 100 may be operated to cut a lawn in the travel area while traveling according to the input on the control screen.
  • the system 1 may further include a transmitter 200 and a GPS satellite 400 transmitting and receiving signals to and from at least one of the robot 100 and the terminal 300.
  • the robot 100 may operate according to a traveling mechanism (or principle) as shown in FIG. 1A, and a signal may flow between devices for determining a position as shown in FIG. 1B. Accordingly, the robot 100 may travel in a travel area 1000 as illustrated in FIG. 2.
  • the robot 100 may travel by itself within the travel area 1000 shown in FIG. 2.
  • the robot 100 may perform particular operation during traveling.
  • the particular operation may be cutting a lawn in the travel area 1000.
  • the travel area 1000 is a target area in which the robot 100 is to travel and operate.
  • a predetermined outside and outdoor area may be provided as the travel area 1000.
  • a garden, a yard, or the like in which the robot 100 is to cut a lawn may be provided as the travel area 1000.
  • a charging apparatus 500 for charging the robot 100 with driving power may be installed in the travel area 1000.
  • the robot 100 may be charged with driving power by docking with the charging apparatus 500 installed in the travel area 1000.
  • the travel area 1000 may be provided as a boundary area 1200 that is predetermined, as shown in FIG. 2.
  • the boundary area 1200 corresponds to a boundary line between the travel area 1000 and an outside area 1100, and the robot 100 may travel within the boundary area 1200 not to deviate from the outside area 1100.
  • the boundary area 1200 may be formed to have a closed curved shape or a closed-loop shape.
  • the boundary area 1200 may be defined by a wire formed to have a shape of a closed curve or a closed loop.
  • the wire 1200 may be installed in an arbitrary area.
  • the robot 100 may travel in the travel area 1000 having a closed curved shape formed by the installed wire 1200.
  • a transmission device (or transmitter) 200 may be provided in plurality in the travel area 1000.
  • the transmission device 200 is a signal generation element configured to transmit a signal to determine position (or location) information of the robot 100.
  • the transmission devices 200 may be installed in the travel area 1000 in a distributed manner.
  • the robot 100 may receive signals transmitted from the transmission devices 200 to determine a current position of the robot 100 based on a result of receiving the signals, or to determine position information regarding the travel area 1000.
  • a receiver of the robot 100 may receive the transmitted signals.
  • the transmission devices 200 may be provided in a periphery of the boundary area 1200 of the travel area 1000.
  • the robot 100 may determine the boundary area 1200 based on installed positions of the transmission devices 200 in the periphery of the boundary area 1200.
  • the robot 100 may communicate with the terminal 300 moving in a predetermined area, and travel by following a position of the terminal 300 based on data received from the terminal 300.
  • the robot 100 may set a virtual boundary in a predetermined area based on position information received from the terminal 300 or collected while the robot 100 is traveling by following the terminal 300, and set an internal area formed by the virtual boundary as the travel area 1000.
  • the terminal 300 may set the boundary area 1200 and transmit the boundary area 1200 to the robot 100.
  • the terminal 300 may transmit changed information to the robot 100 so that the robot 100 may travel in a new area.
  • the terminal 300 may display data received from the robot 100 on a screen to monitor operation of the robot 100.
  • the robot 100 or the terminal 300 may determine a current position by receiving position information.
  • the robot 100 and the terminal 300 may determine a current position based on a signal for position information transmitted from the transmission device 200 in the travel area 1000 or a global positioning system (GPS) signal obtained using the GPS satellite 400.
  • GPS global positioning system
  • the robot 100 and the terminal 300 may determine a current position by receiving signals transmitted from three transmission devices 200 and comparing the signals with each other. That is, three or more transmission devices 200 may be provided in the travel area 1000.
  • the robot 100 sets one certain point in the travel area 1000 as a reference position, and then calculates a position while the robot 100 is moving as a coordinate.
  • an initial starting position that is, a position of the charging apparatus 500 may be set as a reference position.
  • a position of one of the plurality of transmission devices 200 may be set as a reference position to calculate a coordinate in the travel area 1000.
  • the robot 100 may set an initial position of the robot 100 as a reference position in each operation, and then determine a position of the robot 100 while the robot 100 is traveling. With respect to the reference position, the robot 100 may calculate a traveling distance based on rotation times and a rotational speed of a driving wheel, a rotation direction of a main body, etc. to thereby determine a current position in the travel area 1000. Even when the robot 100 determines a position of the robot 100 using the GPS satellite 400, the robot 100 may determine the position using a certain point as a reference position.
  • the robot 100 may determine a current position based on position information transmitted from the transmission device 200 or the GPS satellite 400.
  • the position information may be transmitted in the form of a GPS signal, an ultrasound signal, an infrared signal, an electromagnetic signal, or an ultra-wideband (UWB) signal.
  • a signal transmitted from the transmission device 200 may preferably be a UWB signal. Accordingly, the robot 100 may receive the UWB signal transmitted from the transmission device 200, and determine the current position based on the UWB signal.
  • the robot 100 that cuts grass while traveling in the travel area 1000 may include a main body 10, a driving unit 11 moving the main body 10, and a weeding unit 30 cutting a lawn on a bottom (or the ground) while traveling, and a controller 20 controlling traveling and cutting operation of the robot 100 by controlling the driving unit 11 and the weeding unit 30.
  • the robot 100 may be an autonomous traveling robot including the main body 10 configured to be movable so as to cut a lawn.
  • the main body 10 forms an outer shape (or appearance) of the robot 100 and includes one or more elements performing operation such as traveling of the robot 100 and cutting of a lawn.
  • the main body 10 includes the driving unit 11 that may move the main body 10 in a desired direction and rotate the main body 10.
  • the driving unit 11 may include a plurality of rotatable driving wheels. Each of the driving wheels may individually rotate so that the main body 10 rotates in a desired direction.
  • the driving unit 11 may include at least one main driving wheel 11a and an auxiliary wheel 11b.
  • the main body 10 may include two main driving wheels 11a, and the two main driving wheels may be installed on a rear lower surface of the main body 10.
  • the controller 20 may control traveling and lawn mowing of the robot 100 by determining a current position of the main body 10 so as to travel in the travel area 1000, and controlling the weeding unit 30 to cut a lawn on the bottom while the main body 10 is traveling in the travel area 1000.
  • the robot 100 operating as described above may include the main body 10, the driving unit 11, the weeding unit 30, and the controller 20, so as to cut a lawn while traveling in the travel area 1000. Also, the robot 100 may further include at least one selected from an image capturing unit 12, a communication unit 13, an output unit 14, a data unit 15, a sensing unit 16, a receiver 17, an input unit 18, and an obstacle detection unit 19.
  • the driving unit 11 is a driving wheel included in a lower part of the main body 10, and may be rotationally driven to move the main body 10. That is, the driving unit 11 may be driven such that the main body 10 travels in the travel area 1000.
  • the driving unit 11 may include at least one driving motor to move the main body 10 so that the robot 100 travels.
  • the driving unit 11 may include a left wheel driving motor for rotating a left wheel and a right wheel driving motor for rotating a right wheel.
  • the driving unit 11 may transmit information about a result of driving to the controller 20, and receive a control command for operation from the controller 20.
  • the driving unit 11 may operate according to the control command received from the controller 20. That is, the driving unit 11 may be controlled by the controller 20.
  • the image capturing unit 12 may be a camera capturing an image of a periphery of the main body 10 to generate image information of the travel area 1000 of the main body 10.
  • the image capturing unit 12 may capture an image of a forward direction of the main body 10 to detect an obstacle around the main body 10 and in the travel area 1000.
  • the image capturing unit 12 may be a digital camera, which may include an image sensor (not shown) and an image processing unit (not shown).
  • the image sensor is a device that converts an optical image into an electrical signal.
  • the image sensor includes a chip in which a plurality of photodiodes is integrated. A pixel may be an example of a photodiode.
  • the image capturing unit 12 may transmit information about a result of image capturing to the controller 20, and receive a control command for operation from the controller 20.
  • the image capturing unit 12 may operate according to the control command received from the controller 20. That is, the image capturing unit 12 may be controlled by the controller 20.
  • the communication unit 13 may communicate with at least one communication target element that is to communicate with the robot 100.
  • the communication unit 13 may communicate with the transmission device 200 and the terminal 300 using a wireless communication method.
  • the communication unit 13 may be connected to a predetermined network so as to communicate with an external server or the terminal 300 that controls the robot 100.
  • the communication unit 13 may transmit a generated map to the terminal 300, receive a command from the terminal 300, and transmit data regarding an operation state (or status) of the robot 100 to the terminal 300.
  • the communication unit 13 may include a communication module such as wireless fidelity (Wi-Fi), wireless broadband (WiBro), or the like, as well as a short-range wireless communication module such as Zigbee, Bluetooth, or the like, to transmit and receive data.
  • the communication unit 13 may transmit information about a result of communication to the controller 20, and receive a control command for operation from the controller 20.
  • the communication unit 13 may operate according to the control command received from the controller 20. That is, the communication unit 13 may be controlled by the controller 20.
  • the output unit 14 may include an output element such as a speaker to output an operation state of the robot 100 in the form of a voice (or audio).
  • the output unit 14 may output an alarm when an event occurs while the robot 100 is operating. For example, when the power is run out, an impact or shock is applied to the robot 100, or an accident occurs in the travel area 1000, an alarm voice may be output so that the corresponding information is provided to a user.
  • the output unit 14 may transmit information regarding an operation state to the controller 20 and receive a control command for operation from the controller 20.
  • the output unit 14 may operate according to a control command received from the controller 20. That is, the output unit 14 may be controlled by the controller 20.
  • the data unit 15 is a storage element that stores data readable by a microprocessor, and may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a read only memory (ROM) a random access memory (RAM), CD-ROM, a magnetic tape, a floppy disk, or an optical data storage device.
  • HDD hard disk drive
  • SSD solid state disk
  • SDD silicon disk drive
  • ROM read only memory
  • RAM random access memory
  • CD-ROM compact disc-read only memory
  • a magnetic tape a magnetic tape
  • a floppy disk or an optical data storage device.
  • control data that controls operation of the robot 100, data according to an operation mode of the robot 100, position information collected, and information about the travel area 1000 and the boundary area 1200 may be stored.
  • the sensing unit 16 may include at least one sensor that senses a posture and an operation state (or status) of the main body 10.
  • the sensing unit 16 may include at least one selected from an inclination sensor that detects movement of the main body 10 and a speed sensor that detects a driving speed of the driving unit 11.
  • the inclination sensor may be a sensor that senses posture information of the main body 10. When the main body 10 is inclined forward, backward, leftward or rightward, the inclination sensor may sense the posture information of the main body 10 by calculating an inclined direction and an inclination angle.
  • a tilt sensor, an acceleration sensor, or the like may be used as the inclination sensor.
  • the speed sensor may be a sensor for sensing a driving speed of a driving wheel provided in the driving unit 11. When the driving wheel rotates, the speed sensor may sense the driving speed by detecting rotation of the driving wheel.
  • the sensing unit 16 may transmit information of a result of sensing to the controller 20, and receive a control command for operation from the controller 20.
  • the sensing unit 16 may operate according to a control command received from the controller 20. That is, the sensing unit 16 may be controlled by the controller 20.
  • the receiver 17 may include a plurality of signal sensor modules that transmits and receives position information.
  • the receiver 17 may include a position sensor module that receives the signals transmitted from the transmission device 200.
  • the position sensor module may transmit a signal to the transmission device 200.
  • the transmission device 200 transmits a signal using a method selected from an ultrasound method, a UWB method, and an infrared method
  • the receiver 17 may include a sensor module that transmits and receives an ultrasound signal, a UWB signal, or an infrared signal, in correspondence with this.
  • the receiver 17 may include a UWB sensor.
  • UWB radio technology refers to a technology using a very wide frequency range of several GHz or more in baseband instead of using a radio frequency (RF) carrier.
  • RF radio frequency
  • the UWB radio technology uses very narrow pulses of several nanoseconds or several picoseconds. Since pulses emitted from such a UWB sensor are several nanoseconds or several picoseconds long, the pulses have good penetrability. Thus, even when there are obstacles in a periphery of the UWB sensor, the receiver 17 may receive very short pulses emitted by other UWB sensors.
  • the terminal 300 and the robot 100 include the UWB sensor, respectively, thereby transmitting or receiving a UWB signal with each other through the UWB sensor.
  • the terminal 300 may transmit the UWB signal to the robot 100 through the UWB sensor included in the terminal 300.
  • the robot 100 may determine a position of the terminal 300 based on the UWB signal received through the UWB sensor, allowing the robot 100 to move by following the terminal 300.
  • the terminal 300 operates as a transmitting side
  • the robot 100 operates as a receiving side.
  • the robot 100 or the terminal 300 may receive the signal transmitted from the transmission device 200 through the UWB sensor included in the robot 100 or the terminal 300.
  • a signaling method performed by the transmission device 200 may be identical to or different from signaling methods performed by the robot 100 and the terminal 300.
  • the receiver 17 may include a plurality of UWB sensors.
  • the two USB sensors may receive signals, respectively, and compare a plurality of received signals with each other to thereby calculate an accurate position. For example, according to a position of the robot 100, the transmission device 200, or the terminal 300, when a distance measured by a left sensor is different from a distance measured by a right sensor, a relative position between the robot 100 and the transmission device 200 or the terminal 300, and a direction of the robot 100 may be determined based on the measured distances.
  • the receiver 17 may further include a GPS module for transmitting and receiving a GPS signal to and from the GPS satellite 400.
  • the receiver 17 may transmit a result of receiving a signal to the controller 20, and receive a control command for operation from the controller 20.
  • the receiver 17 may operate according to the control command received from the controller 20. That is, the receiver 17 may be controlled by the controller 20.
  • the input unit 18 may include at least one input element such as a button, a switch, a touch pad, or the like, and an output element such as a display unit, or the like to receive a user command and output an operation state of the robot 100.
  • a command for performing the monitoring mode may be input and a state for performing the monitoring mode may be output via the display unit.
  • the input unit 18 may display a state (or status) of the robot 100 through the display unit, and display a control screen on which manipulation or an input is applied for controlling the robot 100.
  • the control screen may mean a user interface screen on which a driving state of the robot 100 is displayed and output, and a command for driving manipulation of the robot 100 is input from a user.
  • the control screen may be displayed on the display unit under the control of the controller 20, and a display and an input command on the control screen may be controlled by the controller 20.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Harvester Elements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

La présente invention concerne un système de robot mobile et un procédé de commande du système de robot mobile selon lesquels un robot mobile définit une zone à tondre en fonction d'un modèle désigné par un terminal, et tond une pelouse tout en se déplaçant dans la zone définie selon une référence prédéterminée.
PCT/KR2019/017457 2018-12-12 2019-12-11 Système de robot mobile et son procédé de commande Ceased WO2020122583A1 (fr)

Applications Claiming Priority (2)

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KR1020180160274A KR102272161B1 (ko) 2018-12-12 2018-12-12 이동 로봇 시스템 및 이동 로봇 시스템의 제어 방법
KR10-2018-0160274 2018-12-12

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EP4075224A1 (fr) * 2021-04-12 2022-10-19 Kubota Corporation Machine de travail apte au déplacement autonome
WO2024136715A1 (fr) * 2022-12-19 2024-06-27 Husqvarna Ab Système de tondeuse à gazon robotisée doté d'une interface utilisateur à réalité augmentée
US12072711B2 (en) 2021-11-30 2024-08-27 Honda Motor Co., Ltd. Travel route control of autonomous work vehicle using global navigation satellite system
US12591243B2 (en) 2022-02-07 2026-03-31 Doosan Bobcat North America, Inc. Path determination for automatic mowers

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KR20240053678A (ko) * 2022-10-14 2024-04-25 삼성전자주식회사 이동 로봇 및 그 제어방법
KR20240117684A (ko) * 2023-01-25 2024-08-02 삼성전자주식회사 이동 로봇 및 그 제어 방법

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