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    • 4. 发明申请
    • Apparatus, method, and medium for distinguishing the movement state of mobile robot
    • 用于区分移动机器人运动状态的装置,方法和介质
    • US20080154429A1
    • 2008-06-26
    • US11976208
    • 2007-10-22
    • Hyoung-ki LEEJoon-kee CHOSeok-won BANG
    • Hyoung-ki LEEJoon-kee CHOSeok-won BANG
    • G06F19/00
    • G05D1/027G05D1/0272
    • An apparatus, method, and medium for distinguishing the movement state of a mobile robot are provided. The apparatus includes at least one driving wheel rotatably driven by a driving motor, a first rotation sensor to sense rotation of the driving wheel, at least one caster wheel installed corresponding to the driving wheel and freely moving with respect to a bottom surface, a second rotation sensor to sense rotation of the caster wheel, an acceleration sensor to measure acceleration of the mobile robot, an angular velocity sensor to measure angular velocity of the mobile robot, and a movement-state-distinguishing unit to distinguish movement states of the mobile robot through comparison of the velocity or acceleration of the driving wheel obtained by the first rotation sensor, the velocity or acceleration of the caster wheel obtained by the second rotation sensor, the acceleration obtained by the acceleration sensor, and the angular velocity obtained by the angular velocity sensor.
    • 提供了用于区分移动机器人的移动状态的装置,方法和介质。 该装置包括至少一个由驱动电动机可旋转地驱动的驱动轮,用于感测驱动轮的旋转的第一旋转传感器,对应于驱动轮安装的至少一个脚轮和相对于底面自由移动的至少一个脚轮; 用于检测脚轮的旋转的旋转传感器,用于测量移动机器人的加速度的加速度传感器,用于测量移动机器人的角速度的角速度传感器以及用于区分移动机器人的移动状态的移动状态区别单元 通过比较由第一旋转传感器获得的驱动轮的速度或加速度,通过第二旋转传感器获得的脚轮的速度或加速度,由加速度传感器获得的加速度和通过角速度获得的角速度 传感器。