WO2023063543A1 - 이동 로봇 - Google Patents
이동 로봇 Download PDFInfo
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- WO2023063543A1 WO2023063543A1 PCT/KR2022/011032 KR2022011032W WO2023063543A1 WO 2023063543 A1 WO2023063543 A1 WO 2023063543A1 KR 2022011032 W KR2022011032 W KR 2022011032W WO 2023063543 A1 WO2023063543 A1 WO 2023063543A1
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- Prior art keywords
- antenna
- mobile robot
- antennas
- main body
- disposed
- Prior art date
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- 238000004891 communication Methods 0.000 claims abstract description 57
- 239000000758 substrate Substances 0.000 claims abstract description 39
- 239000006096 absorbing agent Substances 0.000 claims description 24
- 239000002184 metal Substances 0.000 claims description 10
- 229910052751 metal Inorganic materials 0.000 claims description 10
- 230000005855 radiation Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005404 monopole Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
- H01Q1/38—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith formed by a conductive layer on an insulating support
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q5/00—Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements
- H01Q5/20—Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements characterised by the operating wavebands
- H01Q5/25—Ultra-wideband [UWB] systems, e.g. multiple resonance systems; Pulse systems
Definitions
- the present invention relates to a mobile robot capable of communicating with an external device.
- a mobile robot is a device that requires transmission of images and sensor data, interlocking and controlling with other devices, and connection to a communication network for interworking with other devices.
- network connection requires interlocking by wireless communication rather than wired communication. Accordingly, it is essential to apply an antenna for wireless transmission and reception of signals in a “mobile” robot.
- a directional antenna is used or the antenna is arranged to face a driving direction, and distortion may occur depending on the strength or phase difference of radio waves in reception of reflected waves.
- a radio frequency (RF) signal can be received in all directions, and a mobile robot capable of minimizing radio distortion and interference in all directions is provided.
- RF radio frequency
- a mobile robot includes a main body; a driving unit for moving the main body; a communication unit including an antenna module disposed at the top of the inside of the main body and performing wireless communication with an external device; and at least one processor controlling the driving unit to move the main body based on a signal received from the external device through the communication unit, wherein the antenna module includes: a substrate; a first antenna disposed on an upper surface of the substrate; and a plurality of second antennas disposed on the upper surface of the substrate and spaced apart from the first antenna at the same distance.
- the mobile robot may include an outer case forming an exterior of the main body; and an inner case provided inside the outer case, wherein the antenna module may be provided between the inner case and the outer case.
- the substrate may be provided in a plane perpendicular to a vertical axis of the main body.
- the first antenna and the plurality of second antennas are provided between the outer case and the substrate, and may be separated from the outside of the main body only with the outer case based on a plane perpendicular to a vertical axis of the main body.
- the communication unit may include an ultra wide band (UWB) communication module located inside the inner case and disposed below the antenna module; and a connector disposed between the antenna module and the UWB communication module and electrically connecting the antenna module and the UWB communication module.
- UWB ultra wide band
- the mobile robot may further include an RF absorber disposed between the antenna module and the UWB communication module and absorbing a radio frequency (RF) signal.
- RF radio frequency
- the RF absorber may be provided inside the inner case.
- the RF absorber may be provided with a larger area than the substrate of the antenna module.
- the mobile robot is located under the UWB communication module to separate the internal space of the body formed by the inner case so that the communication unit is spatially separated from the at least one processor, and RF (radio frequency) signals pass through.
- a metal plate blocking the; may further include.
- the driving unit and the at least one processor may be provided under the metal plate.
- a distance between the first antenna and the second antenna may be less than half of a wavelength corresponding to the highest frequency of UWB communication.
- the first antenna and the plurality of second antennas may be isotropic antennas.
- the array of the first antenna and the plurality of second antennas may be disposed at the center of a cross section of the mobile robot.
- the plurality of second antennas may be arranged such that a central axis forms a predetermined angle with the central axis of the first antenna.
- the first antenna and the plurality of second antennas may be attached horizontally or vertically to the substrate.
- radio frequency (RF) signals can be received in all directions, and radio distortion and interference in all directions can be minimized.
- 1 is an external view of a mobile robot according to an embodiment.
- FIG. 2 is an exploded perspective view of a mobile robot according to an embodiment.
- FIG 3 is a schematic side view of a mobile robot for explaining a position of an antenna module according to an exemplary embodiment.
- FIG. 4 is a side view of a mobile robot according to an embodiment.
- FIG. 5 illustrates a radio frequency (RF) radiation pattern of an antenna module of a mobile robot according to an embodiment.
- RF radio frequency
- FIG. 6 is a diagram for explaining a case in which a mobile robot according to an embodiment further includes an RF absorber.
- FIG. 7 is a diagram for explaining a phase change in an antenna according to whether an RF absorber is applied or not according to an embodiment.
- FIG. 8 is a diagram for explaining a phase difference between antennas according to whether an RF absorber is applied or not according to an embodiment.
- FIG 9 illustrates a case in which an antenna is vertically disposed on a substrate according to an exemplary embodiment.
- FIG. 10 illustrates a case in which an antenna according to an exemplary embodiment is horizontally disposed on a substrate.
- FIG. 11 shows an optimal arrangement when an antenna according to an embodiment is disposed perpendicularly to a substrate.
- FIG. 12 illustrates a radiation pattern of an RF signal according to an antenna arrangement when an antenna is vertically disposed on a substrate according to an exemplary embodiment.
- FIG. 13 shows an optimal arrangement when an antenna is horizontally disposed on a substrate according to an embodiment.
- FIG. 14 illustrates a radiation pattern of an RF signal according to an antenna arrangement when an antenna is horizontally disposed on a substrate according to an exemplary embodiment.
- 15 is a diagram for explaining a case in which a mobile robot determines a distance and an angle to an external device according to an embodiment.
- first and second used herein may be used to describe various components, but the components are not limited by the terms, and the terms It is used only for the purpose of distinguishing one component from another.
- a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.
- ⁇ unit may mean a unit that processes at least one function or operation.
- the terms may mean at least one hardware such as a field-programmable gate array (FPGA) / application specific integrated circuit (ASIC), at least one software stored in a memory, or at least one process processed by a processor. there is.
- FPGA field-programmable gate array
- ASIC application specific integrated circuit
- 1 is an external view of a mobile robot according to an embodiment.
- a mobile robot 1 is a device that recognizes a surrounding environment, is capable of autonomous driving and information collection, and performs various functions such as delivering information to a user.
- the mobile robot 1 can recognize the surrounding environment based on voice, sound and image recognition.
- the “moving” robot 1 may communicate with an external device through wireless communication, identify the location of the external device, or control the external device.
- the mobile robot 1 can physically move by including a driving unit, and through this, various functions of the mobile robot 1 can be executed throughout the user's environment including indoors and outdoors.
- the mobile robot 1 may identify the location of the external device and move toward the external device. If the external device corresponds to a wearable device that can be worn by a pet, the mobile robot 1 identifies the location of the pet by identifying the location of the wearable device, and moves toward the pet to care for the pet or pet We can collect information about and provide it to users.
- the mobile robot 1 can interact with home appliances such as TVs, vacuum cleaners, and washing machines placed in the home to execute functions and collect information, and deliver the collected information to family members including pets. Accordingly, it is possible to connect home appliances with all members of the household.
- home appliances such as TVs, vacuum cleaners, and washing machines placed in the home to execute functions and collect information, and deliver the collected information to family members including pets. Accordingly, it is possible to connect home appliances with all members of the household.
- the "mobile” robot 1 can connect the user with family members who need help, including pets, by continuously checking and checking the environment in the home even when the user is absent.
- the mobile robot 1 can check and operate other home appliances in the home through physical movement. Through this, you can promote safety and enhance security in your home.
- the "mobile” robot 1 may be implemented in a form that performs tasks within a home, but is not limited thereto, and may be implemented as a "robot” device according to various embodiments.
- the "moving" robot 1 may include an outer case 30 forming an exterior of the main body 10 . That is, the exterior of the main body 10 of the mobile robot 1 may be formed by the outer case 30 .
- the outer case 30 includes a first side case 31 and a second side case 32 forming side surfaces of the main body 10, and the main body 10.
- An upper case 33 covering the upper portion and a lower case 34 covering the lower portion of the main body 10 may be included.
- the first side case 31, the second side case 32, the upper case 3 and the lower case 34 may have the same curvature, and accordingly, the main body of the “moving” robot 1 (10) may be provided in a spherical shape.
- the appearance of the mobile robot 1 is not limited to the above example, and may be provided in various shapes.
- the outer case 30 forming the exterior of the main body 10 is not limited to the above example, and unlike the above example, it is also possible to be integrally provided.
- the mobile robot 1 may include wheels 21 for moving the main body 10 .
- the mobile robot 1 can move by controlling the rotational speed and rotational direction of each pair of wheels 21 .
- the main body 10 of the mobile robot 1 includes a camera for photographing the front, a sensor for identifying nearby objects (eg, an infrared sensor, lidar sensor, or radar sensor, etc.) or a microphone for identifying surrounding voices. may contain at least one.
- a sensor for identifying nearby objects eg, an infrared sensor, lidar sensor, or radar sensor, etc.
- a microphone for identifying surrounding voices may contain at least one.
- Figure 2 is an exploded perspective view of the mobile robot 1 according to an embodiment
- Figure 3 is a schematic side view of the mobile robot 1 for explaining the position of the antenna module according to an embodiment
- Figure 4 is an embodiment A side view of the mobile robot 1 according to
- FIG. 5 illustrates an RF radiation pattern of an antenna module of the mobile robot 1 according to an embodiment.
- the mobile robot 1 may include an inner case 40 forming an inner space of the main body 10 .
- the outer case 30 may form the exterior of the main body 10 by surrounding the inner case 40, and the driving part for moving the main body 10 in the inner space formed by the inner case 40 ( 20) and a main board 70 on which at least one processor 75 for controlling the mobile robot 1 is provided.
- the driving unit 20 (travel assembly 20) according to an embodiment includes a motor 23, a gear 25, a battery 27, an actuator (not shown), a bearing (not shown), and a wheel. (21) and the like.
- the driving unit 20 may control the motor 23 to transmit rotational force to the wheels 21 based on the control of at least one processor 75, and thus the mobile robot 1 may move.
- At least one processor 75 may control the overall operation of the “moving” robot 1 .
- the at least one processor 75 may include one or more of a central processing unit (CPU), an application processor (AP), or a communication processor (CP).
- at least one processor 75 may be a microcontroller (Micro Control Unit, MCU).
- At least one processor 75 may control hardware or software components connected to the processor by driving an operating system or an application program, and may perform various data processing and calculations. Also, the at least one processor 75 may load and process commands or data received from at least one of the other components into a volatile memory, and store various data in a non-volatile memory.
- the mobile robot 1 may include a communication unit 50 that performs wireless communication with an external device.
- the communication unit 50 may include an antenna module 51 (antenna assembly 51) capable of transmitting and receiving RF signals, and an ultra wide band (UWB) communication module 53 generating and processing RF signals.
- antenna module 51 antenna assembly 51
- UWB ultra wide band
- the communication unit 50 may perform UWB communication with an external device, and the at least one processor 75, based on the signal received from the external device through the communication unit 50, the main body 10 moves to the outside.
- the driving unit 20 can be controlled to move toward the device. An explanation of this will be described in detail later.
- the antenna module 51 may be disposed at the top of the inside of the main body 10 . That is, the antenna module 51 may be located at the highest position among parts included in the body 10 . In other words, it may be located at the highest position from the driving surface (bottom surface) of the mobile robot 1 in the direction of the vertical axis (z-axis) of the mobile robot 1. Accordingly, at least one processor 75 , the UWB communication module 53 , and the driving unit 20 may be located under the antenna module 51 .
- the antenna module 51 may be located on the upper part of the inner case 40 and provided between the inner case 40 and the outer case 30 (upper case 33).
- the UWB communication module 53 is located inside the inner case 40 and may be disposed under the antenna module 52, and may be connected to the antenna module 52 by the connector 55.
- the communication unit 50 may include a connector 55 disposed between the antenna module 52 and the UWB communication module 53 to electrically connect the antenna module 52 and the UWB communication module 53 to each other.
- the connector 55 may correspond to an RF cable capable of transmitting an RF signal and may be disposed under the antenna module 52 .
- the antenna module 51 is disposed at the top of the inside of the main body 10, so that the main body ( 10) can be separated from the outside.
- the antenna module 51 transmits RF signals in all directions as well as in the driving direction (front) of the mobile robot 1 without being subjected to radio wave distortion and interference by other parts or structures. can emit As a result, the antenna module 51 can minimize RF signal reception errors in all directions, and the mobile robot 1 can minimize distance and angle measurement errors with the external device regardless of the location of the external device.
- the antenna module 51 may include a substrate 511 and a plurality of antennas 513 disposed on an upper surface of the substrate 511 .
- the substrate 511 may be provided as a plane (XY plane) perpendicular to the vertical axis (Z axis) of the main body 10, through which a plurality of antennas 513 are used to drive the mobile robot 1.
- a radiation pattern with the same gain can be formed in all directions in which the mobile robot 1 can travel by allowing the RF signal to be radiated to a plane parallel to the plane.
- the plurality of antennas 513 may be provided as isotropic antennas.
- the mobile robot 1 may have a radiation pattern formed in all directions, that is, 360 degrees, through an arrangement of a plurality of antennas 513 .
- the arrangement of the plurality of antennas 513 may be arranged at the center of the cross section (XY plane) of the mobile robot 1 according to the embodiment. That is, the arrangement of the plurality of antennas 513 is arranged at the center of the cross section while being located at the top of the inside of the main body 10, so that an isotropic omni-directional radiation pattern can be formed in all directions. .
- the arrangement of the plurality of antennas 513 will be described in detail later.
- the mobile robot 1 is located under the UWB communication module 53, and the body formed by the inner case 40 so that the communication unit 50 and at least one processor 75 are spatially separated ( 10) may include a metal plate 60 that separates the inner space and blocks the passage of RF signals.
- the metal plate 60 is made of a metal material and can function as a shielding film for RF signals, and can separate the internal space of the main body 10 .
- the communication unit 50 may be provided above the metal plate 60, and the driving unit 20 and at least one processor 75 may be provided below the metal plate 60.
- the communication unit 50 may be spatially separated from other parts such as at least one processor 75 and the traveling unit 20 by the metal plate 60 . Through this, interference by electromagnetic waves that may be generated in the communication unit 50 by other components can be minimized.
- the antenna module 51 is placed at the top of the inside of the main body 10 to form a radiation pattern having a constant gain in all directions, and through this, signals in all directions can be received without error.
- FIG. 6 is a diagram for explaining a case in which the mobile robot 1 according to an embodiment further includes an RF absorber
- FIG. 7 is a phase at the antenna 513 depending on whether the RF absorber is applied or not according to an embodiment.
- 8 is a diagram for explaining a phase difference between antennas 513 depending on whether an RF absorber according to an embodiment is applied.
- the mobile robot 1 may further include an RF absorber 80 between the antenna module 51 and the UWB communication module 53.
- the RF absorber 80 can absorb the RF signal emitted from the antenna 513 and prevent the RF signal emitted from the antenna 513 from being reflected by the UWB communication module 53 and being radiated to the outside. there is.
- the RF absorber 80 may be made of a known type of RF absorption material, and as shown in FIG. 6 , may be provided with a larger area than the substrate 511 of the antenna module 51 . Through this, it is possible to effectively prevent the RF signal radiated from the antenna 513 from being reflected by the UWB communication module 53 .
- the RF absorber 80 may be provided inside the inner case 40, as shown in FIG. 6, and provided on the upper side of the UWB communication module 53 on the inside of the inner case 40, An RF signal radiated from the antenna 513 may be prevented from propagating to the UWB communication module 53 .
- the RF absorber 80 can minimize the phase change that may occur when the RF signal emitted from the antenna 513 is reflected by the UWB communication module 53, and finally, the angle measurement error with the external device can be reduced. can be minimized.
- the phase of the received RF signal at the antenna 513 according to the rotation of the mobile robot 1 is, as shown in the left graph of FIG. 7 when the RF absorber 80 is not applied, There is a large phase change according to rotation, and even though the rotational positions of the mobile robot 1 are different, a point where the phases overlap according to the frequency may occur.
- the RF absorber 80 it is possible to minimize the phase change through reflection in the UWB communication module 53, and as shown in the right graph of FIG. 7, the phase according to the rotation of the mobile robot 1 The change is small, and the point where the phase overlaps may not occur depending on the frequency.
- phase difference between the antennas 513 may also be linearly determined.
- the phase difference between the antennas 513 (PDOA) is linear without an overlapping section compared to before the RF absorber 80 is applied. may appear hostile.
- PDOA_1 may be a phase difference between any one pair of the plurality of antennas 513
- PDOA_2 may be a phase difference between another pair of antennas among the plurality of antennas 513.
- the mobile robot 1 that receives the RF signal transmitted from the external device in order to search the location of the external device at a fixed location can rotate and receive the RF signal at various angles, and can rotate between the plurality of antennas 513.
- the position of the external device can be determined by determining the phase difference of .
- the phase change of the RF signal through reflection from the UWB communication module 53 is minimized so that the phase difference between the antennas 513 becomes linear according to the rotation of the mobile robot 1. allow it to change to
- FIG. 9 illustrates a case in which the antenna 513 according to an embodiment is vertically disposed on the substrate 511
- FIG. 10 illustrates a case in which the antenna 513 according to an exemplary embodiment is disposed horizontally on the substrate 511. shows
- the antenna module 51 may include a substrate 511 and a plurality of antennas 513 disposed on an upper surface of the substrate 511 .
- the plurality of antennas 513 may include a first antenna 513a and a plurality of second antennas 513b spaced apart from the first antenna 513a at the same distance.
- the first antenna 513a may correspond to a combined transmit/receive antenna capable of transmitting and receiving RF signals
- the second antenna 513b may correspond to only receiving RF signals. It may be a receive-only antenna.
- the types of the first antenna 513a and the second antenna 513b may be provided in various antenna types according to embodiments.
- second antennas 513b will be described as an example.
- the number of second antennas 513b is not limited to the above example, and may be provided in various numbers according to embodiments.
- the plurality of antennas 513 may be vertically attached to the substrate 511 positioned on the inner case 40 .
- the plurality of antennas 513 may be configured as a monopole patch antenna type.
- the type of the plurality of antennas 513 is not limited to the above example, and is not limited as long as it is a type capable of forming an isotropic radiation pattern even when vertically attached to the substrate 511 .
- the plurality of antennas 513 may be attached horizontally to the substrate 511 positioned on top of the inner case 40 .
- the plurality of antennas 513 may be of a patch antenna type.
- the type of the plurality of antennas 513 is not limited to the above example, and is not limited as long as it is a type capable of forming an isotropic radiation pattern even when attached horizontally to the substrate 511 .
- the plurality of second antennas 513b may be spaced apart from the first antenna 513a by the same distance.
- the distance d1 between the first antenna 513a and one of the plurality of second antennas 513b 513b-1 and the first antenna ( 513a) and the other one 513b-2 of the plurality of second antennas 513b may have the same distance d2.
- the mobile robot 1 can accurately calculate angles with the external device in all directions. Angle calculation with an external device will be described in detail later.
- the distances d1 and d2 between the antennas may be less than half (eg, 18 mm to 20 mm) of a wavelength corresponding to the highest frequency of UWB communication, depending on embodiments.
- FIG. 11 shows an optimal arrangement when an antenna 513 is vertically disposed on a substrate 511 according to an embodiment
- FIG. 13 shows an optimal arrangement when an antenna 513 according to an embodiment is horizontally arranged on a substrate 511
- FIG. When the antenna 513 according to an embodiment is horizontally disposed on the substrate 511, a radiation pattern of an RF signal according to antenna arrangement is shown.
- the plurality of second antennas 513b may be disposed such that their central axis forms a preset angle with the central axis of the first antenna 513a. That is, by rotating and disposing the second antenna 513b at a predetermined angle from the first antenna 513a, the radiated energy of the first antenna 513a can be radiated after being coupled with the second antenna 513b. Thus, interference between the plurality of antennas 513 can be minimized.
- a plurality of antennas 513 are arranged to form a preset angle with each other, thereby minimizing interference between the antennas 513 and solving the problem of lowering radiation gain at a specific angle through this.
- Uniform radiation gain can be provided in all directions.
- the central axis of each of the plurality of second antennas 513b is the first antenna 513a.
- a preset angle eg, 90 degrees
- a preset angle with the central axis may be achieved.
- the first antenna 513a may be coupled with the second antenna 513b and then radiated, thereby minimizing interference between the plurality of antennas 513 .
- the central axis of each of the plurality of second antennas 513b is the central axis of the first antenna 513a. and a preset angle (eg, 120 degrees) may be achieved.
- 15 is a diagram for explaining a case in which the mobile robot 1 determines the distance and angle to an external device according to an embodiment.
- At least one processor 75 receives the signal transmitted from the external device 2 at the time when the external device 2 transmits the signal and the first antenna 513a. Based on the difference between one hour, the distance L to the external device 2 can be determined.
- At least one processor 75 determines the phase difference between the signal received through the first antenna 513a and the signal received through the plurality of second antennas 513b, and the first antenna 513a.
- An angle ⁇ with the external device 2 may be determined based on the position of the second antenna 513b and the arrangement position of the second antenna 513b.
- the at least one processor 75 controls the phase difference between the first antenna 513a and the signal received through each one of the plurality of second antennas 513b (513b-1), the first antenna 513a ) and the signal received through the other one of the plurality of second antennas 513b, and the arrangement position of the first antenna 513a and the plurality of second antennas 513b, the external device 2 It is possible to determine the angle ( ⁇ ) with
- the at least one processor 75 determines the phase difference ⁇ 1 between the first antenna 513a and the signal received through any one 513b-1 of the plurality of second antennas 513b and the second antenna 513b.
- the phase difference ( ⁇ 2 ) between the first antenna 513a and the signal received through the other one of the plurality of second antennas 513b is applied to ⁇ Equation 1 > to determine the composite phase difference ( ⁇ s ).
- ⁇ is an angle between a normal vector to a parallel line between the first antenna 513a and one of the plurality of second antennas 513b (513b-1) and a vector pointing forward of the mobile robot 1.
- ⁇ is an angle between a normal vector to a parallel line between the first antenna 513a and the other one 513b-2 of the plurality of second antennas 513b and a vector pointing forward of the mobile robot 1.
- the at least one processor 75 may determine the angle ⁇ with the external device 2 by applying the synthesized phase difference ⁇ s to ⁇ Equation 2>.
- ⁇ may correspond to a wavelength of an RF signal received by the antenna 513
- d may correspond to a distance between the antennas 513.
- the at least one processor 75 determines whether the angle ⁇ with the external device 2 is based on the front of the mobile robot 1 or the rear of the mobile robot 1 based on Equation 3. can be determined based on
- the at least one processor 75 determines that the external device 2 is located in the front and the angle ⁇ with the external device 2 is based on the front of the mobile robot 1. can In addition, at least one processor 75, if FR is less than 0, the external device 2 is located in the rear, so that the angle ⁇ with the external device 2 is based on the rear of the mobile robot 1 can decide
- the at least one processor 75 moves the main body 10 toward the external device 2 based on the distance to the external device 2 and the angle with the external device 2, and moves the driving unit 20. You can control it.
- the present invention can form a radiation pattern having uniform radiation gain in all directions by locating the antenna module 51 at the top of the inside of the main body 10, through which the external device 2 can move in any direction. It is possible to receive the RF signal transmitted by the external device 2 without error. As a result, according to the present invention, it is possible to accurately measure the position of the external device 2 by receiving the RF signal transmitted from the external device 2 without error, thereby ensuring movement to the external device 2 .
- the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments.
- the recording medium may be implemented as a computer-readable recording medium.
- Computer-readable recording media include all types of recording media in which instructions that can be decoded by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.
- ROM read only memory
- RAM random access memory
- magnetic tape a magnetic tape
- magnetic disk a magnetic disk
- flash memory an optical data storage device
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Abstract
Description
Claims (15)
- 본체;상기 본체를 이동시키는 주행부;상기 본체의 내부의 최상단에 배치되는 안테나 모듈을 포함하고, 외부 장치와 무선 통신을 수행하는 통신부; 및상기 통신부를 통하여 상기 외부 장치로부터 수신된 신호에 기초하여 상기 본체가 이동하도록 상기 주행부를 제어하는 적어도 하나의 프로세서;를 포함하고,상기 안테나 모듈은,기판;상기 기판의 상면에 배치되는 제1 안테나; 및상기 기판의 상면에 배치되고, 각각 상기 제1 안테나로부터 동일한 거리로 이격되어 배치되는 복수의 제2 안테나;를 포함하는 이동 로봇.
- 제1항에 있어서,상기 이동 로봇은,상기 본체의 외관을 형성하는 외부 케이스; 및상기 외부 케이스의 내부에 마련되는 내부 케이스;를 포함하고,상기 안테나 모듈은,상기 내부 케이스 및 상기 외부 케이스 사이에 마련되는 이동 로봇.
- 제2항에 있어서,상기 기판은,상기 본체의 수직축과 수직하는 평면으로 마련되는 이동 로봇.
- 제3항에 있어서,상기 제1 안테나 및 상기 복수의 제2 안테나는,상기 외부 케이스 및 상기 기판 사이에 마련되고, 상기 본체의 수직축과 수직하는 평면을 기준으로 상기 외부 케이스만으로 상기 본체의 외부와 분리되는 이동 로봇.
- 제2항에 있어서,상기 통신부는,상기 내부 케이스의 내부에 위치하여 상기 안테나 모듈의 하부에 배치되는 UWB(ultra wide band) 통신 모듈; 및상기 안테나 모듈 및 상기 UWB 통신 모듈 사이에 배치되고, 상기 안테나 모듈 및 상기 UWB 통신 모듈 사이를 전기적으로 연결하는 커넥터;를 포함하는 이동 로봇.
- 제5항에 있어서,상기 이동 로봇은,상기 안테나 모듈 및 상기 UWB 통신 모듈 사이에 배치되고, RF(radio frequency) 신호를 흡수하는 RF 흡수체;를 더 포함하는 이동 로봇.
- 제6항에 있어서,상기 RF 흡수체는,상기 내부 케이스의 내부에 마련되는 이동 로봇.
- 제6항에 있어서,상기 RF 흡수체는,상기 안테나 모듈의 상기 기판 보다 넓은 면적으로 마련되는 이동 로봇.
- 제5항에 있어서,상기 이동 로봇은,상기 UWB 통신 모듈의 하부에 위치하여 상기 통신부가 상기 적어도 하나의 프로세서로부터 공간적으로 분리되도록 상기 내부 케이스에 의해 형성된 상기 본체의 내부 공간을 분리하고, RF(radio frequency) 신호의 통과를 차단하는 금속판;을 더 포함하는 이동 로봇.
- 제9항에 있어서,상기 주행부 및 상기 적어도 하나의 프로세서는,상기 금속판의 하부에 마련되는 이동 로봇.
- 제5항에 있어서,상기 제1 안테나 및 상기 제2 안테나 사이의 거리는,UWB 통신의 최고 주파수에 대응하는 파장의 반 이하인 이동 로봇.
- 제1항에 있어서,상기 제1 안테나 및 상기 복수의 제2 안테나는,등방성(isotropic) 안테나인 이동 로봇.
- 제1항에 있어서,상기 제1 안테나 및 상기 복수의 제2 안테나의 배열은,상기 이동 로봇의 횡단면의 중앙에 배치되는 이동 로봇.
- 제1항에 있어서,상기 복수의 제2 안테나는,중심축이 상기 제1 안테나의 중심축과 미리 설정된 각도를 이루도록 배치되는 이동 로봇.
- 제1항에 있어서,상기 제1 안테나 및 상기 복수의 제2 안테나는,상기 기판에 수평 또는 수직으로 부착되는 이동 로봇.
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EP22881174.1A EP4327989A1 (en) | 2021-10-13 | 2022-07-27 | Mobile robot |
CN202280041998.2A CN117500645A (zh) | 2021-10-13 | 2022-07-27 | 移动机器人 |
US17/885,248 US20230112269A1 (en) | 2021-10-13 | 2022-08-10 | Moving robot |
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KR20210135822 | 2021-10-13 | ||
KR10-2021-0135822 | 2021-10-13 | ||
KR1020220003244A KR20230052786A (ko) | 2021-10-13 | 2022-01-10 | 이동 로봇 |
KR10-2022-0003244 | 2022-01-10 |
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US17/885,248 Continuation US20230112269A1 (en) | 2021-10-13 | 2022-08-10 | Moving robot |
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JP2004268223A (ja) * | 2003-03-11 | 2004-09-30 | Seiko Epson Corp | マイクロロボット |
KR20190115502A (ko) * | 2018-03-14 | 2019-10-14 | 삼성전자주식회사 | 전자 장치 및 그 동작 방법 |
KR20190134974A (ko) * | 2018-05-04 | 2019-12-05 | 엘지전자 주식회사 | 복수의 자율주행 이동 로봇 |
KR20200015877A (ko) * | 2018-08-05 | 2020-02-13 | 엘지전자 주식회사 | 이동 로봇 및 그 제어방법 |
KR20210087839A (ko) * | 2020-01-03 | 2021-07-13 | 삼성전자주식회사 | 통신 장치를 포함하는 이동 로봇 장치 |
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2022
- 2022-07-27 WO PCT/KR2022/011032 patent/WO2023063543A1/ko active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004268223A (ja) * | 2003-03-11 | 2004-09-30 | Seiko Epson Corp | マイクロロボット |
KR20190115502A (ko) * | 2018-03-14 | 2019-10-14 | 삼성전자주식회사 | 전자 장치 및 그 동작 방법 |
KR20190134974A (ko) * | 2018-05-04 | 2019-12-05 | 엘지전자 주식회사 | 복수의 자율주행 이동 로봇 |
KR20200015877A (ko) * | 2018-08-05 | 2020-02-13 | 엘지전자 주식회사 | 이동 로봇 및 그 제어방법 |
KR20210087839A (ko) * | 2020-01-03 | 2021-07-13 | 삼성전자주식회사 | 통신 장치를 포함하는 이동 로봇 장치 |
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