US 8,135,498 B2Granted

Method and apparatus for detecting movement error in mobile robot

AssigneeSamsung Electronics Co., Ltd.

InventorsSeung Yong Hyung, Jong Owan Kim, Jong Chang Lee, Jong Ho Park, Hyun Sik Shim, Kun Hak Lee

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Abstract

An apparatus and method for detecting movement errors due to the wheel slip or transient current generated while a mobile robot is traveling. The movement error detecting method includes: detecting movement of the wheels in a sensor part according to a movement command input to a drive motor, and outputting an actual output value from the sensor part; calculating an ideal output value for output from the sensor part as the wheels are moved according to the movement command; and comparing the actual output value with the ideal output value to determine and residual fault and detect movement errors.

Claims16

Dependent claims

A method, operable in a controller, for determining detecting a movement error in a mobile robot comprising a sensor part and at least one wheel, the method comprising:

sensing a movement of the mobile robot according to a movement command, corresponding to a rotation number of the at least one wheel and a movement direction of the mobile robot;
outputting an actual-movement value corresponding to the movement of the mobile robot from the sensor part;
calculating an ideal movement value predicted as an ideal movement of the mobile robot according to the movement command;
comparing the actual movement value with the ideal movement value;
and
detecting the movement error as the compared result,
wherein detecting the movement error comprises:
determining that the movement error has occurred when the calculated difference exceeds a limit and when an error duration during which the limit exceeds, exceeds a time limit.

5 more elements

An apparatus for detecting a movement error in a mobile robot comprising a left wheel and a right wheel separated by a predetermined difference;

the apparatus comprising:
a sensor part for sensing a movement of the mobile robot according to a movement command, corresponding to a rotation number of at least one of the left wheel and the right wheel and a movement direction of the mobile robot, said sensor part outputting an actual movement value corresponding to the movement of the mobile robot;
an ideal output calculating unit for calculating an ideal movement value predicted for the mobile robot according to the movement command;
and
a movement error detecting unit for:
comparing the actual movement value with the ideal movement value;
and
detecting the movement error as the compared result, wherein detecting the movement error comprises:
determining that the movement error has occurred when the calculated difference exceeds a limit and when an error duration during which the limit exceeds, exceeds a time limit.

6 more elements

Dependencies are inferred from the claim text.