Granted Patent B2

US 12,366,865 · App. 17/569,890 · Granted Jul 22, 2025

Inventors: Dongwoo Park (Suwon-si, KR); Hyunjoong Lee (Suwon-si, KR); Boseok Moon (Suwon-si, KR)

Assignee: SAMSUNG ELECTRONICS CO., LTD.

G05D1/0891G05D1/0214G05D1/0223G05D1/10

Abstract

Claims (41)

1. A method for controlling a robot, the method comprising:

controlling a driving apparatus to move the robot to a preset route;

detecting an obstacle on the preset route;

determining an entrance angle and an entrance velocity with which a rollover index of the robot is maintained within a preset range during climbing the obstacle, wherein the determining the entrance angle and the entrance velocity comprises:

simulating traversal of the obstacle by the robot using a plurality of entrance velocities;

obtaining, based on a result of the simulation, the rollover index for each of a plurality of combinations of a plurality of entrance velocities and a plurality of entrance angles for the obstacle based on a driving performance of the robot; and

based on combinations of entrance angles and entrance velocities that are capable of maintaining the preset range, among the plurality of combinations used to obtain the rollover index, determining an entrance angle and an entrance velocity that correspond to at least one of a highest velocity or a largest entrance angle among the plurality of combinations to be the entrance angle and the entrance velocity to be used in climbing the obstacle; and

controlling the driving apparatus to climb the obstacle with the determined entrance angle and the determined entrance velocity,

wherein the obtaining the rollover index further comprises:

obtaining information about a stepped portion of the obstacle;

calculating a climbing time corresponding to one entrance angle selected from the plurality of entrance angles and one entrance velocity selected from the plurality of entrance velocities;

obtaining an angular impulse moment of the robot based on the selected entrance velocity, the selected entrance angle, the calculated climbing time, the obtained information about the stepped portion, and an inertial moment of the robot;

obtaining a roll angle and a roll angular velocity of the robot using the obtained angular impulse moment; and

obtaining the rollover index based on the roll angle and the roll angular velocity of the robot.

2. The method of claim 1 , wherein the obtaining the rollover index further comprises obtaining the roll angle of the robot based on a center of gravity of the robot.

3. A robot comprising:

a sensor;

a driving apparatus;

at least one memory storing one or more instructions; and

at least one processor configured to execute the one or more instructions, wherein the one or more instructions, when executed by the at least one processor, cause the robot to:

control the driving apparatus to move the robot to a preset route,

based on detecting an obstacle on the preset route, determine an entrance angle and an entrance velocity with which a rollover index of the robot is maintained within a preset range during climbing an obstacle by:

simulating traversal of the obstacle by the robot using a plurality of entrance velocities,

obtaining, based on a result of the simulation, the rollover index for each of a plurality of combinations of a plurality of entrance velocities and a plurality of entrance angles for the obstacle based on a driving performance of the robot, and

based on combinations of entrance angles and entrance velocities that are capable of maintaining the preset range, among the plurality of combinations used to obtain the rollover index, determining an entrance angle and an entrance velocity that correspond to at least one of a highest velocity or a largest entrance angle among the plurality of combinations to be the entrance angle and the entrance velocity to be used in climbing the obstacle, and

control the driving apparatus to climb the obstacle with the determined entrance angle and the determined entrance velocity, and

wherein the obtaining the rollover index further comprises:

obtaining information about a stepped portion of the obstacle,

calculating a climbing time corresponding to one entrance angle selected from the plurality of entrance angles and one entrance velocity selected from the plurality of entrance velocities;

obtaining an angular impulse moment of the robot based on the selected entrance velocity, the selected entrance angle, the calculated climbing time, the obtained information about the stepped portion, and an inertial moment of the robot,

obtaining a roll angle and a roll angular velocity of the robot using the obtained angular impulse moment, and

obtaining the rollover index based on the roll angle and the roll angular velocity of the robot.

4. The robot of claim 3 , wherein the one or more instructions, when executed by the at least one processor, cause the robot to obtain the roll angle of the robot based on a center of gravity of the robot.

5. The robot of claim 3 , wherein the one or more instructions, when executed by the at least one processor, cause the robot to:

identify whether the robot is capable of climbing the detected obstacle, and

based on the robot being capable of climbing the detected obstacle, determine the entrance angle and the entrance velocity.

6. The robot of claim 5 , wherein the one or more instructions, when executed by the at least one processor, cause the robot to:

based on the robot not being capable of climbing the detected obstacle, set a plurality of candidate routes that bypass the obstacle,

calculate transverse acceleration of the robot for each of the plurality of candidate routes, and

determine one of the plurality of candidate routes as a driving route of the robot based on the calculated transverse acceleration.

7. The robot of claim 6 , wherein the one or more instructions, when executed by the at least one processor, cause the robot to calculate transverse acceleration based on a rotation radius of each of the plurality of candidate routes and moving velocity of the robot.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (34)