Robot system and control method of the same

Patent metadata

Field	Value
Publication number	US-11314263-B2
Application number	US-201916657460-A
Country	US
Kind code	B2
Filing date	Oct 18, 2019
Priority date	Sep 19, 2019
Publication date	Apr 26, 2022
Grant date	Apr 26, 2022

Abstract

A robot system includes a mobile robot provided with a driving wheel and a driving motor, a load cell provided in the mobile robot, a spring connected to the load cell, an auxiliary wheel connected to the spring, and a controller configured to change a speed of the driving motor according to a sensing value of the load cell.

First claim

What is claimed is:

1. A robot system comprising:
a mobile robot provided with a driving wheel and a driving motor;
an auxiliary wheel;
an auxiliary wheel sensor installed in the mobile robot and connected with the auxiliary wheel to sense a movement speed of the auxiliary wheel; and
a controller configured to:
accelerate the driving motor if the movement speed of the auxiliary wheel is higher than a movement speed of the mobile robot after the auxiliary wheel enters a moving walkway, and
decelerate the driving motor if the movement speed of the auxiliary wheel is lower than the movement speed of the mobile robot after the auxiliary wheel enters the moving walkway.

2. The robot system of claim 1 ,
wherein the auxiliary wheel sensor includes:
a load cell provided in the mobile robot; and
a spring connected to the load cell and the auxiliary wheel,
wherein the controller changes a speed of the driving motor according to a sensing value of the load cell.

3. The robot system of claim 2 , further comprising a cylinder connected to the mobile robot and having formed therein a space in which the spring is received.

4. The robot system of claim 3 , wherein the cylinder is provided to protrude from a bottom of the mobile robot.

5. The robot system of claim 2 ,
wherein the auxiliary wheel includes:
a wheel, and
a wheel connector, to which the wheel is rotatably connected, and
wherein a space in which a portion of the spring is received is formed in the wheel connector.

6. The robot system of claim 2 , further comprising a cylinder connected to the mobile robot,
wherein the auxiliary wheel includes:
a wheel, and
a wheel connector, to which the wheel is rotatably connected, a portion of the wheel connector being inserted into the cylinder or a portion of the cylinder being inserted into the wheel connector, and
wherein spaces in which the spring is received are formed in the cylinder and the wheel connector, respectively.

7. The robot system of claim 2 ,
wherein the controller accelerates the driving motor if a length of the spring increases, and
wherein the controller decelerates the driving motor if the driving wheel enters a moving walkway.

8. The robot system of claim 2 , wherein the controller decelerates the driving motor if a length of the spring decreases.

9. The robot system of claim 2 ,
wherein the controller decelerates the driving motor at a first acceleration if a length of the spring decreases and decelerates the driving motor at a second acceleration if the driving wheel enters a moving walkway, and
wherein the second acceleration is less than the first acceleration.

10. A method of controlling a robot system including a mobile robot provided with a driving wheel and a driving motor, the method comprising:
sensing a movement speed of an auxiliary wheel by an auxiliary wheel sensor installed in the mobile robot;
performing a speed changing process of accelerating the driving motor if a movement speed of the auxiliary wheel is higher than a movement speed of the mobile robot after the auxiliary wheel enters a moving walkway and decelerating the driving motor if the movement speed of the auxiliary wheel is lower than the movement speed of the mobile robot after the auxiliary wheel enters the moving walkway.

11. The method of claim 10 , wherein the performing of the speed changing process includes stopping the driving motor if the driving wheel enters the moving walkway after accelerating the driving motor.

12. The method of claim 10 , wherein the performing of the speed changing process includes stopping the driving motor if the driving wheel enters the moving walkway after decelerating the driving motor.

Assignees

• Lg Electronics Inc

Inventors

• Moon Sungmin
• Kim Nakyeong
• Lee Sanghak
• Seo Jeongkyo

Classifications

• B25J19/002

  using counterweights · CPC title

• B60W2520/28

  Wheel speed · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• G05D1/0223 Primary

  involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00) · CPC title

• Y02T10/7072

  Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors · CPC title