Omnidirectional moving robot device, and system and method for object conveyance using the same

Patent metadata

Field	Value
Publication number	US-9878448-B2
Application number	US-201514929716-A
Country	US
Kind code	B2
Filing date	Nov 2, 2015
Priority date	Nov 2, 2015
Publication date	Jan 30, 2018
Grant date	Jan 30, 2018

Abstract

Provided are an omnidirectional moving robot device, and a system and method for object conveyance using a plurality of moving robot devices. The omnidirectional moving robot device includes a sensor, a traveling unit including an omnidirectional wheel disposed in a housing, and a control unit configured to transmit a traveling command signal to the traveling unit by using data measured by the sensor.

First claim

What is claimed is:

1. An omnidirectional moving robot device comprising:
a sensor;
a traveling unit including an omnidirectional wheel disposed in a housing; and
a control unit configured to transmit a traveling command signal to the traveling unit by using data measured by the sensor,
wherein the sensor comprises a one-axis force sensor, and the controller obtains one-axis compressive force or tensile force data in an axial direction measured by the one-axis force sensor and performs a force control algorithm to generate a calculation value, calls a target force/torque value to be applied to a robot, compares the called target force/torque value with the calculation value, and determines whether to maintain or change a current traveling speed according to a comparison result.

2. The omnidirectional moving robot device of claim 1 , wherein the sensor further comprises a multi-axis force/torque sensor disposed within the housing.

3. The omnidirectional moving robot device of claim 1 , further comprising:
a connection port coupled to a connecting rod connecting an upper plate constituting the housing and an upper plate of another moving robot device.

4. The omnidirectional moving robot device of claim 1 , further comprising:
a communication unit configured to receive force and torque data obtained by a force/torque sensor of another moving robot device.

5. The omnidirectional moving robot device of claim 4 , wherein the control unit transmits a traveling command signal according to a target value determined by using data measured by a force/torque sensor of the omnidirectional moving robot device and the force and torque data of the other moving robot device obtained by the communication unit.

6. The omnidirectional moving robot device of claim 1 , wherein the omnidirectional wheel comprises at least one of a mecanum wheel, an onmi-wheel, and a swivel wheel.

7. The omnidirectional moving robot device of claim 6 , wherein the sensor is disposed in each link of a steward platform connecting a lower plate constituting a robot body and an upper plate on which an object to be conveyed is mounted.

8. A system for object conveyance using an omnidirectional moving robot device including a force/torque sensor, the system for object conveyance comprising:
a master moving robot including a first force/torque sensor; and
a slave moving robot configured to transmit data obtained by a second force/torque sensor to the master moving robot and travel upon receiving a traveling command signal from the master moving robot,
wherein the master moving robot adds data obtained by the first force/torque sensor and the data obtained by the second force/torque sensor to generate target force and target torque values and performs a force control algorithm to generate a calculation value, compares the calculation value with a target speed, and determines whether to maintain or change a current traveling speed of the master moving robot and the slave moving robot according to a comparison result.

9. A method for object conveyance using an omnidirectional moving robot device including a force/torque sensor, the method for object conveyance comprising:
(a) receiving target speed and direction data regarding object conveyance;
(b) obtaining IDs and force/torque sensor values of a master moving robot and a slave moving robot; and
(c) transmitting a traveling command signal generated by using the force/torque sensor values to convey an object in the target speed and direction,
wherein operation (c) comprises determining target force and target torque values by adding the force/torque sensor values obtained by the master moving robot and the slave moving robot, performing a force control algorithm to generate a calculation value, comparing the calculation value with a target speed, and determining whether to maintain or change a current traveling speed of the master moving robot and the slave moving robot according to a comparison result.

10. The method for object conveyance of claim 9 , further comprising:
(d) monitoring whether the force/torque sensor value of the master moving robot and the slave moving robot are changed, after operation (c).

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Kang Tae Hun
• Park Hee Jin
• Moon Jeon Il

Classifications

• B25J5/007 Primary

  mounted on wheels · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J13/085

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

• B25J9/0084

  comprising a plurality of manipulators · CPC title

• B66F9/063

  Automatically guided · CPC title