Patent AU-2020331567-B2 (AU)
Title: Object moving system
Inventor: FLICK PAUL
IPC: H04N9/47
Filed: 2020-09-10
Granted: 2022-02-03
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) 
(19) World Intellectual Property 
Organization11111111111111111111111I1111111111111i1111liliii 
International Bureau (10) International Publication Number 
(43) International Publication Date W O 2021/046607 Al 
18 March 2021 (18.03.2021) W IPO I PCT 
(51) International Patent Classification: ELMOUTTIE, Marc; c/o Commonwealth Scientific and 
G05D 1/08 (2006.01) G05B19/00 (2006.01) Industrial Research Organisation, Cluies Ross Street, Ac
G05D 1/02 (2020.0 1) ton, Australian Capital Territory 2601 (AU). LIANG, Sisi; 
(21) International Application Number: c/o Commonwealth Scientific and Industrial 
Research Or
PCT/AU2020/050961 ganisation, Clunies Ross Street, Acton, Australian 
Capi
tal Territory 2601 (AU). STEINDL, Ryan; c/o Common
(22) International Filing Date: wealth Scientific and Industrial Research Organisation, Clu
10 September 2020 (10.09.2020) nies Ross Street, Acton, Australian Capital Territory 2601 
(AU). CORDIE, Troy; c/o Commonwealth Scientific and 
(25)FilingLanguage: English Industrial Research Organisation, Clunies Ross Street, Ac
(26) Publication Language: English ton, Australian Capital Territory 2601 (AU). BANDY
OPADHYAY, Tirtha; c/o Commonwealth Scientific and 
(30)PriorityData: Industrial Research Organisation, Cluies Ross Street, Ac
2019903398 12 September 2019 (12.09.2019) AU ton, Australian Capital Territory 2601 (AU).  
PCT/AU2020/050113 
11 February 2020 (11.02.2020) AU (74) Agent: DAVIES COLLISON CAVE PTY LTD; Level 
(71) Applicant: COMMONWEALTH SCIENTIFIC AND 10, 301 Coronation Drive, Milton, Queensland 4064 
(AU).  
INDUSTRIAL RESEARCH ORGANISATION (81) Designated States (unless otherwise indicated, for every 
[AU/AU]; Clunies Ross Street, Acton, Australian Capital kind ofnational protection available): AE, AG, AL, AM, 
Territory 2601 (AU). AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, 
(72) Ivno:FI , coC mnetScCA, CH, CL, CN. CO, CR, CU, CZ, DE, DJ, DK, DM, DO, 
(72) Inventors:FLICK, Paul;dorConmionwealth Scientific DZ. EC, EE, EG, ES, FI, GB GD, GE, GH, GM, GT, HN, 
andIndustrialResearchOrganisation,.CluniesRossStreet HR, HU, ID, IL, IN, IR, IS, IT, JO, JR KE KG, KH, KN, 
Acton, Australian Capital Territory 2601 (AU). PANITZ, KR KR, KW, KZ, LA. LC. LK, LR LS. LU, LY, MA, MD, 
Nic; c/o Conimonwealth Scientific and Industrial Research ME.MG, KMNMWMXMY.MZNANG.NINO.  
Organisation, Clunies Ross Street, Acton, Australian Capi- NZ, OM, PA. P LPG. PH. PL , PT , QA , RO , RS ,RU RW, 
tal Territory 2601 (AU). DEAN, Peter; c/o Commonwealth SA, SC, SD, SE, SG, SK, SL, ST, SSY, THT, , TM, TN, 
Scientific and Industrial Research Organisation, Clunies TRTT.TZUA.UG.US.UZVCVNWSZA.ZMZW.  
Ross Street, Acton, Australian Capital Territory 2601 (AU).  
(54) Title: OBJECT MOVING SYSTEM 
(57) Abstract: A system for moving an object within an environment, 
wherein the system includes at least one modular wheel configured to 
move the object. The modular wheel includes a body configured to be 
150 attached to the object, a wheel, a drive configured to rotate the wheel 
and a controller configured to control the drive. One or more processing 
151 devices configured are provided to receive an image stream including a 
plurality of captured images from each of a plurality of imaging devices, 
the plurality of imaging devices being configured to capture images of 
the object within the environment, analyse the images to determine an 
object location within the environment, generate control instructions at 
least in part using the determined object location and provide the control 
154 instructions to the controller, the controllerbeing responsive to the control 
152 instructions to control the drive and thereby move the object.  
153 
Fig. 1A
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(84) Designated States (unless otherwise indicated, for every 
kind of regional protection available): ARIPO (BW, GH, 
GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, 
UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, 
TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, 
EE, ES, Fl, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, 
MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, 
TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, 
KM, ML, MR, NE, SN, TD, TG).  
Declarations under Rule 4.17: 
- as to applicant's entitlement to apply for and be granted a 
patent (Rule 4.17(ii)) 
Published: 
- with international search report (Art. 21(3))