Omnidirectional moving robot device, and system and method for object conveyance using the same
AssigneeDaegu Gyeongbuk Institute of Science and Technology
InventorsTae Hun Kang, Hee Jin Park, Jeon Il Moon
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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.
Claims10
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.
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.
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.
Dependencies are inferred from the claim text.