Method of controlling movement of cart robot in response to change in travel surface using artificial intelligence and cart robot implementing the same

Patent metadata

Field	Value
Publication number	US-11865717-B2
Application number	US-201917423756-A
Country	US
Kind code	B2
Filing date	Apr 8, 2019
Priority date	Apr 8, 2019
Publication date	Jan 9, 2024
Grant date	Jan 9, 2024

Abstract

The present disclosure relates to a method of controlling movement of a cart in response to a change in a travel surface using artificial intelligence and a cart implementing the same, and in a cart robot of one embodiment, an IMU sensor senses a change in a travel surface, and an obstacle sensor senses a distance from an installed object placed in a direction of an advance of the cart robot, to control a moving part of the cart robot.

First claim

The invention claimed is:

1. A cart robot for controlling movement in response to a change in a travel surface using artificial intelligence, the cart robot comprising:
a plurality of moving parts configured to move the cart robot;
an obstacle sensor configured to sense an obstacle near the cart robot;
an inertial measurement unit (IMU) sensor configured to sense the change in the travel surface of the cart robot;
a force sensor configured to sense a change in force applied to a handle assembly of the cart robot; and
a controller configured to control a direction or a speed of movement of the plurality of moving parts depending on the change in the force sensed by the force sensor,
wherein when the IMU sensor senses the change in the travel surface, the controller controls the obstacle sensor such that the obstacle sensor senses a distance from an installed object placed in a direction in which the cart robot advances, calculates a time point at which the cart robot moves out of the travel surface and increases magnitude of electric energy to be supplied to the plurality of moving parts at the time point at which the cart robot moves out of the travel surface,
wherein the change in the travel surface is caused by the cart robot's entry to a moving walkway,
wherein the IMU sensor senses a gradient of the cart robot, caused by a difference between heights of a moving part at a front and a moving part at a rear of the cart robot, after the change in the travel surface, and
wherein when the distance sensed by the obstacle sensor at a front of the cart robot is a predetermined exit distance reference value or greater, and a tilt angle of the cart robot decreases, the controller increases the magnitude of the electric energy to be supplied to the plurality of moving parts in proportion to the force sensed by the force sensor.

2. The cart robot of claim 1 , wherein when the tilt angle is an angle, at which the cart robot slips, or greater, the controller locks a motor of the plurality of moving parts, and
wherein the controller unlocks the motor before increasing the magnitude of the electric energy to be supplied to the plurality of moving parts of the cart robot.

3. The cart robot of claim 1 , wherein when the tilt angle is an angle, at which the cart robot slips, or less on an upward slope, the controller increases the magnitude of the electric energy to be supplied to the plurality of moving parts based on the change in the force sensed by the force sensor.

4. The cart robot of claim 1 , wherein when the tilt angle is an angle, at which the cart robot slips, or less on a downward slope, the controller decreases the magnitude of the electric energy to be supplied to the plurality of moving parts based on the change in the force sensed by the force sensor.

5. The cart robot of claim 1 , wherein the controller calculates electric energy E1 to be supplied to the plurality of moving parts in proportion to a first value sensed by the force sensor on a flat surface,
wherein the controller calculates electric energy E2 to be supplied to the plurality of moving parts in proportion to the first value sensed by the force sensor on an upward slope,
wherein the controller calculates electric energy E3 to be supplied to the plurality of moving parts in proportion to the first value sensed by the force sensor on a downward slope, and
wherein a relationship among E1, E2 and E3 satisfies “E3<E1<E2”.

6. The cart robot of claim 5 , wherein the controller increases the E2 when an angle of the upward slope increases, and
wherein the controller decreases the E3 when an angle of the downward slope increases.

7. The cart robot of claim 1 , further comprising a positioning sensor configured to track a position of a user.

8. A cart robot for controlling movement in response to a change in a travel surface using artificial intelligence, the cart robot comprising:
a plurality of moving parts configured to move the cart robot;
an obstacle sensor configured to sense an obstacle near the cart robot;
an inertial measurement unit (IMU) sensor configured to sense the change in the travel surface of the cart robot;
a force sensor configured to sense a change in force applied to a handle assembly of the cart robot; and
a controller configured to control a direction or a speed of movement of the plurality of moving parts depending on the change in the force sensed by the force sensor,
wherein when the IMU sensor senses the change in the travel surface, the controller controls the obstacle sensor such that the obstacle sensor senses a distance from an installed object placed in a direction in which the cart robot advances, calculates a time point at which the cart robot moves out of the travel surface and increases magnitude of electric energy to be supplied to the plurality of moving parts at the time point at which the cart robot moves out of the travel surface, and
wherein in sensing the change in the travel surface, when the IMU sensor senses inclination and then horizontality, the controller ascertains that the cart robot enters a flat surface moving walkway and ascertains the change in the travel surface, using the obstacle sensor.

9. The cart robot of claim 8 , wherein the IMU sensor checks a first gradient at a first time point and a second gradient at a second time point, and
wherein when magnitude of an absolute value of the first gradient and magnitude of an absolute value of the second gradient are the same within an error range, the IMU sensor informs the controller that the IMU sensor senses the inclination and then the horizontality.

10. A method of controlling movement of a cart robot in response to a change in a travel surface using artificial intelligence, the method comprising:
sensing the change in the travel surface of the cart robot by an inertial measurement unit (IMU) sensor of the cart robot;
sensing a distance from an installed object placed in a direction of an advance of the cart robot by an obstacle sensor of the cart robot;
calculating a time point of the cart robot's exit from the travel surface by a controller of the cart robot;
increasing magnitude of electric energy to be supplied to a plurality of moving parts of the cart robot by the controller at the time point of the cart robot's exit from the travel surface;
sensing a gradient of the cart robot, caused by a difference between heights of a moving part at a front and a moving part at a rear of the cart robot by the IMU sensor; and
when the distance sensed by the obstacle sensor at a front of the cart robot is a predetermined exit distance reference value or greater, and a tilt angle of the cart robot decreases, increasing the magnitude of the electric energy to be supplied to the plurality of moving parts by the controller in proportion to force sensed by a force sensor.

11. The method of claim 10 , further comprising:
when the tilt angle is an angle, at which the cart robot slips, or greater, locking a motor of the plurality of moving parts by the controller; and
unlocking the motor by the controller before increasing the magnitude of the electric energy to be supplied to the plurality of moving parts of the cart robot.

12. The method of claim 10 , further comprising:
increasing the magnitude of the electric energy to be supplied to the plurality of moving parts by the controller, based on a change in the force sensed by the force sensor, when the tilt angle is an angle, at which the cart robot slips, or less on an upward slope.

13. The method of claim 10 , further comprising:
decreasing the magnitude of the electric energy to be supplied to the plurality of moving parts

Assignees

• Lg Electronics Inc

Inventors

• Shin Kangsoo
• Kim Sunryang
• Kim Yoonsik
• Kim Joohan

Classifications

• B25J9/1633 Primary

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

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• G05D1/0016 Primary

  characterised by the operator's input device (input arrangements for computing systems in general G06F3/00) · CPC title