CN106998984B - 用于机器人清洁设备的清洁方法 - Google Patents
用于机器人清洁设备的清洁方法 Download PDFInfo
- Publication number
- CN106998984B CN106998984B CN201480084067.6A CN201480084067A CN106998984B CN 106998984 B CN106998984 B CN 106998984B CN 201480084067 A CN201480084067 A CN 201480084067A CN 106998984 B CN106998984 B CN 106998984B
- Authority
- CN
- China
- Prior art keywords
- cleaning device
- robotic cleaning
- robotic
- recorded
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 278
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000003550 marker Substances 0.000 claims abstract description 39
- 238000004590 computer program Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 description 8
- 230000006399 behavior Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0477—Rolls
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
Abstract
本发明涉及一种在待清洁的表面(35,35’)上操作机器人清洁设备(10)的方法,所述方法由所述机器人清洁设备执行,所述方法包括以下步骤:当在所述表面上以一定间隔记录(S03)路径标记(36)时,跟随(S02)第一物体(34,34’)的边界(38,38’),所述路径标记包括位置信息;在遇到预先记录的路径标记中的一个或多个之后,以偏移(D)跟踪(S04)所述预先记录的路径标记(36’);以及在检测到第二物体之后,从跟踪所述预先记录的路径标记切换(S05)到跟随(S06)所述第二物体(40)的边缘(38”)。
Description
技术领域
本发明涉及一种机器人清洁设备以及一种操作机器人清洁设备以便提高清洁效率的方法。
背景技术
在许多技术领域中,希望使用具有自主行为的机器人,使得它们可以在空间内四处自由移动而不与可能的物体和障碍物碰撞。
进一步被称为机器人清洁设备的机器人真空吸尘器或机器人地板拖把在本领域是已知的并且通常装备有呈一个或多个电机形式的驱动装置用于使该吸尘器在待清洁的表面上移动。机器人清洁设备可以进一步配备有呈用于引起自主行为的一个或多个微处理器和导航装置形式的智能,从而使得机器人真空吸尘器能够自由地来回移动并且清洁例如呈房间形式的空间。因此,这些现有技术机器人真空吸尘器具有或多或少地自主地对其中具有家具(如桌椅)以及其他物体(如墙壁和楼梯)的房间进行真空吸尘或擦干的能力。
基本上存在两类本领域已知的机器人清洁设备;——通过随机移动清洁表面的机器人清洁设备以及使用各种传感器数据在表面上导航的机器人清洁设备。
使用随机移动的机器人清洁设备还随机地寻找充电器。这些机器人清洁设备按照偶然性原则导航和清洁。这种机器人清洁设备可以包括碰撞传感器来避免在清洁时发生碰撞。通常,它们包括用于当它们碰巧经过充电器时或当充电器进入视野中时检测并定位充电器的装置。这明显不是清洁和导航非常有效的方式,并且具体地无法针对大表面或复杂的布局很好地工作。
使用传感器数据导航的本领域另一种类型的机器人清洁设备根据它们可以安全地行驶而不碰撞物体或障碍物的传感器数据进行推断。由于它们基于在大部分情况下并不完整的传感器数据来假设它们的环境,因此它们冒着卡住或迷路的高风险。此外,提取数据并且因此根据传感器数据作出假设额外地需要昂贵的电子部件。
在一些情况下,现有技术机器人清洁设备使用行程方法进行清洁,这意味着它们来回逐行程地行驶以便清洁表面。当将这种现有机器人清洁设备从一个房间导航到另一个房间或者导航回至充电器时,机器人清洁设备使用传感器数据进行导航。由于这种机器人清洁设备还被迫基于传感器数据作出假设,因此碰撞物体或障碍物的风险则可比较地较高。这可能使机器人清洁设备减速并且由此降低清洁效率。此外,逐行程方法可能使大量碎屑或灰尘剩余,例如靠近物体或障碍物的边缘。这种清洁可能不整洁。
一些已知的机器人清洁设备可以包括被安排靠近或位于清洁开口的左或右外围的侧刷,以便将碎屑和灰尘刷到清洁开口中以及清洁开口前方。当将侧刷(具体地仅一个侧刷)安装在机器人清洁设备上时,清洁模式需要相应地调节到确保侧刷正在以最佳方式除去碎屑和灰尘。
发明内容
本发明的目的是提供一种用于操作机器人清洁设备的方法以及一种被配置成用于执行整洁、有效且鲁棒的方法的机器人清洁设备。
本发明的诸位发明人已经意识到可以提供一种用于有效地操作机器人清洁设备以便提供整洁且整齐的清洁的通用方法。所述方法增强了机器人清洁设备的导航的鲁棒性并且改善了清洁的整体性能。
本文中公开了一种在待清洁的表面上操作机器人清洁设备的方法,所述方法由所述机器人清洁设备执行,所述方法包括以下步骤:
当在所述表面上以一定间隔记录路径标记时,跟随第一物体的边界,所述路径标记包括位置信息;
在遇到预先记录的路径标记中的一个或多个之后,以偏移跟踪所述预先记录的路径标记;以及
在检测到第二物体之后,从跟踪所述预先记录的路径标记切换到跟随所述第二物体的边缘。
此方法允许所述机器人清洁设备根据向内清洁模式或向外清洁模式进行清洁。所述机器人清洁设备可以由此通过跟随第一物体(如墙壁等)的边界开始清洁待清洁的表面,并且通过以螺旋模式向内清洁来朝表面的内部移动,或者其可以检测由此在表面内被安排在远离表面的边界的某处的第二物体,并且通过跟随所述第二物体的边缘开始清洁并且通过以螺旋模式从第二物体向外移动进行清洁。
第一和第二物体可以是家具、墙壁、楼梯、电梯井等。在许多情况下,第一物体可以是房间的墙壁,并且第二物体可以是家具。
间隔可以是时间间隔或者距离间隔。
偏移可以分别小于机器人清洁设备的宽度和机器人清洁设备的清洁部分。
有利地,所述机器人清洁设备跟随所述第二物体的所述边缘直到再次遇到预先记录的路径标记。
当遇到预先记录的路径标记时,所述机器人清洁设备将意识到或者第二障碍物被完全包围或者第二障碍物的侧之一被预先清洁,并且将由此再次切换到跟随预先存放的路径标记。
这可以允许机器人清洁设备建立包括清洁期间所有遇到的物体的映射图。
在另一个实施例中,机器人清洁设备可以跟随第二物体的边缘直到所述第二物体被包围。
由此,所述机器人清洁设备可以继续跟随所述第二物体,即使在如此做之后会遇到预先记录的路径标记。一旦完全包围第二物体,机器人清洁设备就将再次以偏移跟随或跟踪预先存放的路径标记。
跟踪和切换到边界或边缘跟随的步骤允许机器人清洁设备以自主且有效的方式在待清洁的表面上移动,并且另外确保整洁且整齐的清洁,即使在遇到物体时。
在另一个优选实施例中,所述方法包括以下步骤:在遇到所述预先记录的路径标记中的一个或多个之后识别限定待清洁的区域的环路,其中,所述环路包括多个所述预先记录的路径标记。
根据环路的形状,可以调节剩余表面的清洁模式。在识别之后,可以封闭环路。例如,仅当前跟随的并由机器人清洁设备记录的环路可以被打开并且被机器人清洁设备认为是有效的。
优选地,在识别以便生成高效且简单的清洁模式之后,环路在映射图内被简化。
由于可以避免已经清洁的区域并且可以避免多次清洁例如走廊或窄路中的相同区域,因此这可以改善导航以及机器人清洁设备的清洁效率。
所述简化包括以下步骤:封闭所述环路和/或将所述环路拆分成限定多个待清洁的区域的多个环路,从而使得所述机器人清洁设备可以一个接一个地清洁所述区域。
当待清洁的表面例如包括被走廊互连的两个房间时,环路可以在已经完成了沿着两个房间的边界的第一环路时被分成两个环路,每个房间一个环路。每个环路可以限定待清洁的区域,并且机器人清洁设备可以一个接一个地清洁两个区域。
在以上例如走廊的情况下,这种简化避免了在预先清洁的区域上的多个行程,并且其降低了机器人清洁设备的复杂度。
如果假设在环路的完成中不涉及物体或障碍物是安全的,则所述简化可以替代性地包括所述完成。
此外,当检测到表面大于阈值时,所述简化可以涉及在已经完成第一环路之后通过引导机器人清洁设备沿着分离表面的边线来拆分待清洁的表面。
在实施例中,在所述机器人清洁设备在任何方向上移动而不能够向预先记录的路径标记中的任何路径标记建立所述偏移时遇到预先记录的路径标记的情况下,所述多个区域中的第一区域可以被认为是清洁的。
当预先记录的路径标记的围绕当前记录的路径标记的所有路径标记比偏移更靠近机器人清洁设备时,假设第一区域已经被完全地清洁并且由此已完成是安全的。
如果以上不是这种情况,则机器人清洁设备将朝预先记录的路径标记仍然以比偏移更大的距离间隔开的区域移动并且继续清洁。
进一步,所述方法可以包括避免进入预先记录的路径标记之间的距离小于偏移的区域的步骤。
当来自多个区域中的区域的待清洁的第一区域可以被认为已完成时,机器人清洁设备可以移动到多个区域中待清洁的第二区域,并且开始跟踪限定待清洁的第二区域的环路的预先记录的路径标记。
机器人清洁设备可以由此通过完成每个区域直到没有剩余区域为止来逐步工作。
在优选的实施例中,如在所述机器人清洁设备的移动方向上看到的,路径标记可以记录在所述机器人清洁设备的左或右外围或者所述机器人清洁设备的清洁开口处。
在另一个实施例中,如在机器人清洁设备的移动方向上看到的,机器人清洁设备可以使用机器人清洁设备的右或左外围或者机器人清洁设备的清洁部分来跟随左或右路径标记。
具体地,如果侧刷被安装在机器人清洁设备上,则机器人清洁设备可以在遇到预先记录的路径标记时使用侧刷跟随路径标记。
在进一步实施例中,所述机器人清洁设备可以跟随所述第一和第二物体的所述边界或所述边缘,从而使得所述路径标记记录在所述机器人清洁设备的所述外围上或者所述机器人清洁设备的位于远离所述边界或所述边缘的所述清洁开口上。
以上内容可以根据于机器人清洁设备是逆时针方向还是顺时针方向进行清洁以及是否安装了侧刷来应用。如果安装了侧刷,则有利的是,侧刷是否跟随第一或第二物体的边界或边缘。机器人清洁设备可以由此被配置成用于将清洁模式改变成逆时针方向或顺时针方向,以便确保当遇到物体时侧刷跟随物体的边缘或边界。
当检测到第一物体的拐角时,可以开始记录路径标记。
这可能在某种程度上简化清洁模式,如在本文中稍后描述的。
本文中还公开了一种机器人清洁设备,所述机器人清洁设备包括:主体;推进系统,所述推进系统被安排成用于移动所述机器人清洁设备;接触检测部分,所述接触检测部分连接至所述主体并且被安排成用于检测所述机器人清洁设备是否与物体接触;以及航位推算传感器,所述航位推算传感器可操作地连接至所述推进系统。机器人清洁设备可以进一步包括处理单元,所述处理单元被安排成用于控制所述推进系统;由此,所述处理单元可以连接至所述航位推算传感器并且被配置成用于执行包括先前描述的步骤和/或特征中任一项的方法。
本文中进一步公开了一种包括计算机可执行指令的计算机程序,所述计算机可执行指令用于在所述计算机可执行指令在所述机器人清洁设备中所包括的处理单元上被执行时使所述机器人清洁设备执行包括先前描述的步骤和/或特征中任一项的方法。
进一步公开了一种包括计算机可读存储介质的计算机程序产品,所述计算机可读存储介质具有在其中实施的根据以上内容的计算机程序。
总的来说,除非本文中另有明确定义,否则在权利要求书中所使用的所有术语是根据它们在技术领域中的普通含义来解释的。除非另有明确声明,否则所有引用的“一/一个/元件、装置、部件、手段、设备、步骤等”是如参考所述元件、装置、部件、手段、设备、步骤等中的至少一个实例开放性解释的。除非明确阐述,否则本文中所公开的任何方法的步骤不必按照所公开的确切顺序来执行。
附图说明
现在将通过示例方式通过参考附图来描述本发明,在附图中:
图1示意性地展示了根据本发明的机器人清洁设备的实施例的俯视图;
图2示意性地展示了根据本发明实施例的机器人清洁设备的正视图;
图3a示意性地展示了根据本发明的方法的当开始向内清洁时对路径标记的记录;
图3b示意性地展示了根据本发明的方法的当开始向外清洁时对路径标记的记录;
图4示意性地展示了如何识别并且潜在地封闭环路;
图5a示意性地展示了在遇到物体之后从跟踪路径标记切换到跟随物体的边缘;
图5b示意性地展示了与图5a类似的视图;在这种情况下,在切换回至路径标记跟踪之前物体被完全包围;
图5c示意性地展示了与图5a和图5b类似的视图;在这种情况下,在切换回路径标记跟踪之前物体没有被完全包围;
图6a示意性地展示了向外清洁;
图6b示意性地展示了在根据图6a的环境中如何简化环路;
图7示意性地展示了在第一区域清洁之后,机器人清洁设备如何从第一区域移动到第二区域;以及
图8展示了根据本发明的方法步骤。
具体实施方式
现在将参照这些附图在下文中更为全面地描述本发明,在附图中示出了本发明的某些实施例。然而,本发明可以采用许多不同形式来实施,并不应被解释为局限于本文中提出的这些实施例;而是,这些实施例是以示例方式提供的,这样使得本公开将是全面和完整的,并将向本领域技术人员完整地传达本发明的范围。贯穿本说明书,相同的数字指代相同的元件。
本发明涉及机器人清洁设备,或者换言之,涉及用于清洁表面的自动自推进机器,例如,机器人真空吸尘器、机器人清洁器或机器人地板洗涤器。根据本发明的机器人清洁设备10能够用市电操作并且具有电绳、是用电池操作的、或者使用任何其他种类的合适的能源,例如太阳能。
图1示出了根据本发明的实施例的机器人清洁设备10的底视图,即,示出了机器人清洁设备10的底侧。箭头指示了机器人清洁设备的前进方向。机器人清洁设备10包括主体11,所述主体容纳了如推进系统的部件,所述推进系统包括呈能够使驱动轮12、13移动的两个电动轮电机15a、15b形式的驱动装置,从而使得机器人清洁设备10能够在待清洁的表面上移动。每个轮电机15a、15b能够控制各自的驱动轮12、13彼此独立地旋转以便使机器人清洁设备10跨待清洁的表面移动。可以设想许多不同的驱动轮安排以及各种不同的轮电机安排。应注意的是,机器人清洁设备10可以具有任何合适的形状,如所展示的圆形主体11或三角形主体。
作为上文所描述的推进系统的替代方案,可以使用跟踪推进系统或甚至气垫船推进系统。
所述推进系统另外连接至两个航位推算传感器30、30’上,给每个驱动轮12、13指派了一个航位推算传感器,如图1中所展示的。航位推算传感器30、30’被配置成用于通过观察驱动轮12、13的相应移动和转动来独立地测量机器人清洁设备10所行驶的距离,以便帮助将机器人清洁设备10定位在例如房间内。
图1中所展示的机器人清洁设备10的实施例包括两个航位推算传感器30、30’,但是能够想象机器人清洁设备包括仅一个航位推算传感器30、30’。
控制器(如处理单元16)鉴于从障碍物检测设备(图2中示出)处接收的信息来控制轮电机15a、15b根据需要使驱动轮12、13旋转,所述障碍物检测设备用于检测机器人清洁设备必须在绕其导航的呈墙壁、落地灯、桌腿形式的障碍物。如图1中所展示的,航位推算传感器30、30’例如经由电动轮电机15a、15b连接至处理单元16上。
障碍物检测设备可以以红外(IR)传感器和/或声呐传感器、微波雷达、记录其周围环境借助于例如3D相机、与激光器组合的相机、激光扫描仪等实现的3D传感器系统的形式被实施,用于检测障碍物并将关于任何检测到的障碍物的信息传达至处理单元16。处理单元16与轮电机15a、15b通信,以便根据由障碍物检测设备提供的信息控制轮12、13的移动。
在图1中,进一步展示了机器人清洁设备10的宽度W。由于主体11具有圆形形状,因此宽度W与主体的直径相对应。概括地说,宽度W可以被限定为机器人清洁设备10的最宽部分或最大尺寸,如在正向方向M上测量的。
主体11可以可选地提供有用于从待清洁的表面上除去碎屑和灰尘的清洁构件17,所述清洁构件呈安排在机器人吸尘器10的底部处的开口18中的可旋转刷辊的形式。因此,可旋转刷辊17沿水平轴线安排在开口18中,以增强清洁设备10的灰尘和碎屑收集特性。为了使刷辊17旋转,刷辊电机19操作性地耦合至刷辊上,以根据从处理单元16处接收的指令控制其旋转。可选地,机器人清洁设备10包括侧刷(未示出)以便使清洁最优化。侧刷可以被安排在开口18的外围处或靠近开口的外围,从而使得碎屑和灰尘被刷到开口前方的刷辊17中。在图3a至图7中所展示的示例中,可以假设侧刷(未示出)被安排在机器人清洁设备10的开口18的右外围处,尽管本发明不依赖于此,这意味着根据本发明的方法还在没有侧刷的情况下工作。
此外,机器人吸尘器10的主体11包括抽风机20,所述抽风机创造气流以便经由主体11的底侧中的开口18将碎屑运输到被容纳在主体中的集尘袋或旋流器安排(未示出)。抽风机20由连接至处理单元16上的风扇电机21驱动,风扇电机21从所述处理单元处接收用于控制抽风机20的指令。应注意的是,可以设想机器人清洁设备10具有可旋转刷辊17和抽风机20中的任一者用于将碎屑运输到集尘袋。然而,这两个的组合会增强机器人清洁设备10的除屑能力。
替代性地,机器人清洁设备10可以包括拖把(未示出)和/或旋转地板刷(未示出)。
进一步参考图1,可以以一个或多个微处理器形式实施的处理单元16被安排成用于执行被下载到与微处理器相关联的合适存储介质26中的计算机程序25,如随机存取存储器(RAM)、闪存或硬盘驱动器。处理单元16被安排成用于在包括计算机可执行指令的适当计算机程序25被下载至存储介质26并且被处理单元16执行时实施根据本发明的实施例的方法。存储介质26还可以是包括计算机程序25的计算机程序产品。替代性地,计算机程序25可以通过合适的计算机程序产品(如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒)来传递至存储介质26。作为另外一个替代方案,计算机程序25可以通过网络下载至存储介质26。处理单元16可以替代性地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)的形式被实施。
在图1中进一步展示了接触检测部分32。如在移动方向上看到的,接触检测部分32被安排在机器人清洁设备10的前端处。接触检测部分32可以延伸跨过机器人清洁设备10的整个前部、类似于现代汽车的停车距离传感器。替代性地,接触检测部分32可以仅延伸跨过机器人清洁设备10的前极端,如图1中所展示的。接触检测部分32被安排成用于检测机器人清洁设备10是否与物体或地标相接触。当不得不避免与障碍物碰撞时,这可能是有用的。
图2示出了根据实施例的机器人清洁设备10的正视图,展示了呈3D相机系统22形式的前述障碍物检测设备,所述相机系统至少包括相机23以及第一和第二结构光源27、28,所述结构光源可以是水平或竖直定向的线激光器。另外展示了前面参照图1讨论的处理单元16、主体11、驱动轮12、13和可旋转刷辊17。处理单元16操作性地耦合至用于记录机器人清洁设备10的附近的图像的相机23。第一和第二结构光源27、28可以优选地是竖直线激光器并且被安排在相机23的侧面、被配置成用于照亮比机器人清洁设备10的高度和宽度更大的高度和宽度。相机23由处理单元16控制来每秒捕捉和记录多张图像。由处理单元16从图像中提取数据,并且通常将数据与计算机程序25一起保存在存储介质26中。
第一和第二结构光源27、28被配置成用于优选地朝竖直朝向、正常朝机器人清洁设备10的移动方向扫描机器人清洁设备10的附近。第一和第二结构光源27、28被配置成用于发出照亮家里或房间的家具、墙壁和其他障碍物的激光束。在机器人清洁设备10在待清洁的表面上移动时,相机23被处理单元16控制,以捕捉并记录图像,通过从所述图像提取特征并通过测量被机器人清洁设备10覆盖的距离,处理单元16从所述图像中创建机器人清洁设备10在其中操作的周围环境的表示或布局。由此,处理单元16可以从所记录的图像中得出机器人清洁设备10的关于待清洁的表面的位置数据,以便生成周围环境(特别是障碍物)的3D表示。
从3D相机系统22记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿等形式的、机器人清洁设备10必须在其周围导航的障碍物以及机器人清洁设备10必须横越的小地毯、地毯、门阶等进行检测。
关于图2,为了说明目的,3D相机系统22是与机器人清洁设备10的主体11分开的。然而,在实际实现方式中,3D相机系统22可能与机器人清洁设备10的主体11集成在一起,以使机器人清洁设备10的高度最小化,由此允许它在如(例如)沙发的障碍物下面穿过。
现在已经描述了包括障碍物检测设备的机器人清洁设备10,所述障碍物检测设备具有3D相机23以及第一和第二结构光源27、28,同样这提供了机器人清洁设备的高效且相当快的导航。然而,在其最简单的形式中,机器人清洁设备10可以仅包括接触检测部分32,因为此接触检测部分32使机器人清洁设备10能够围绕检测到的物体和障碍物导航。对本文中所展示的方法而言,机器人清洁设备10包括接触检测部分32是足够的,障碍物检测设备是执行本文中所描述的方法必不可少的。
在以下图3a至图7中,机器人清洁设备10在图中由示出其当前位置的实线展示,而机器人清洁设备10的更早的位置11以虚线展示。此外,图3a至图7中的箭头A展示了机器人清洁设备10的移动方向,由此机器人清洁设备10已经如何在所展示的不同映射图中行驶或者采用由路径标记36概括的清洁模式行驶。
尽管在图3a至图7中展示了相对于机器人清洁设备10而中心地记录路径标记36,但是如在机器人清洁设备10的移动方向上看到的,可以在机器人清洁设备10的左或右外围处或在机器人清洁设备10的清洁开口18处记录路径标记。
现在参照图3a和图3b(其展示了机器人清洁设备10如何检测S01或者作为待清洁的表面35的一部分或者围绕表面35的第一物体34、34’。第一物体可以呈房间的墙壁34或者安排在表面35上的家具34’的形式。第一物体还可以例如是烟囱、电梯井、楼梯、地毯等。机器人清洁设备10检测S01第一物体34、34’并且朝着它移动S01。一旦到达第一物体34、34’,机器人清洁设备10就以在表面35上以一定间隔记录S03路径标记36的同时跟随S02第一物体34、34’的边界或边缘开始。
图3a展示了机器人清洁设备10如何检测S01被具体化为房间的墙壁的第一物体34。机器人清洁设备10朝着第一物体34移动,直到到达边界38(在所展示的情况下,为墙壁)为止。当机器人清洁设备10观察到到达边界38时(例如,经由由障碍物检测设备或接触检测部分32进行的检测),处理单元16开始以一定间隔记录S03路径标记36并将其存储例如到存储介质26上,同时使用接触检测部分32或障碍物检测设备来跟随S02边界38。图3a展示了机器人清洁设备10如何以外边界38通过向内清洁开始,向内清洁将稍后参照图4至图5c以及图7而加以描述。图3a中的边界38被表示为墙壁并且因此可以被认为是外边界38。
另一方面,图3b展示了机器人清洁设备10如何检测并移动S01至被安排在表面35内的第一物体34’。如之前所描述的,机器人清洁设备10检测并朝着被安排在表面35内例如由桌子或橱柜表示的第一物体34’移动S01。一旦到达第一物体34’,机器人清洁设备10就开始跟随S02边缘38’,而处理单元16以一定间隔连续地记录S03路径标记36。因此,在图3b中,机器人清洁设备10执行向外清洁。将在参照图6a和图6b时进一步解释这种情况。
优选的是,机器人清洁设备10仅在机器人清洁设备10已经开始跟随如在图3a和图3b中所展示的边缘38’或边界38时开始记录S03路径标记。
因此,本文中所描述的方法起作用以便如图3a和图4至图7中所展示地向内清洁并且如图3b、图6a和图6b中所展示地向外清洁。
所记录S03的路径标记36之间的间隔可以是时间间隔或距离间隔。因此,可以以例如1至30秒(优选地3至20秒并且更优选地从5至15秒)的时间间隔或者以例如1至20cm(优选地5至15cm并且更优选地在7至13cm的范围内)的距离间隔来落下或记录S03路径标记36。
替代性地,距离间隔可以在机器人清洁设备10的最大尺寸的1%至100%的范围内(更优选地,机器人清洁设备10的最大尺寸的20%至50%),在所展示的情况下,所述尺寸为直径或宽度W,但是在其他情况下,可以为机器人清洁设备10的长度或宽度。
在图3a和图3b中,路径标记36被展示为在其之间具有相当大的距离,这主要是用于说明性目的。在图4至图7中,路径标记36被展示为点线,其中,每个点表示路径标记36。机器人清洁设备10与路径标记36之间的间隔/距离之间的大小关系将仅被理解为是说明性的而不是绝对的。
图4展示了在遇到预先记录S03的路径标记36’之前,机器人清洁设备10是如何跟随S02边界38的。当机器人清洁设备10遇到预先记录的路径标记36’时,其开始跟踪S04预先记录的路径标记36’,同时继续以一定间隔以偏移D记录S03路径标记36。在图4中的展示情况下,机器人清洁设备10沿着物体34的边界38执行完整环路42,直到其遇到预先记录的路径标记36’为止。
再次,如之前所提及的,如在机器人清洁设备10的移动方向上看到的,机器人清洁设备可以使用机器人清洁设备的右或左外围或者机器人清洁设备10的清洁开口18来跟踪S04预先记录的路径标记36’。预先记录的路径标记36’可能已经在机器人清洁设备的左或右外围或者清洁开口18处记录了自身。
此外,如果在清洁开口18或机器人清洁设备10的左或右外围处记录了路径标记36、36’,则机器人清洁设备10可以跟随第一物体34、34’的边界38、38’或者第一和第二物体40的边缘38”,从而使得在机器人清洁设备10的外围上或者机器人清洁设备10的被定位成远离边界38、38’的清洁开口18上记录路径标记36。
如果在机器人清洁设备10上(例如,如在机器人清洁设备10的移动方向上看到的在清洁开口18的右侧上)安装了侧刷(未示出),则机器人清洁设备10可以被配置成用于总是跟随S02第一物体34、34’或第二物体40的边界38、38’或边缘40,从而使得侧刷跟随边界38、38’或边缘40,同时将路径标记36记录S03在如在机器人清洁设备的移动方向上看到的清洁开口18的左侧上。
优选地,偏移D小于机器人清洁设备10的开口18(参考图1)的宽度。这可以确保适当清洁。在一些情况下,例如如果使用了一个侧刷或两个侧刷,则偏移D可以更大。然后,偏移D可以小于清洁开口18和侧刷的动作范围。尽管在附图中,朝着边界38、38’的距离被展示为类似于偏移D,但是清楚的是,在实践中,当机器人清洁设备10跟随边界38、38’时,此距离至少大约对应于偏移D的一半。
可选地,因为当机器人清洁设备从跟随S02和记录S03切换到跟踪S04预先记录的路径标记36’时,通常将存在未记录任何路径标记36的小间隙,所以处理单元16可以被配置成用于识别S07并封闭图4的环路42。因此,处理单元16可以封闭此小间隙并在存储于存储介质26上的映射图中将环路42表示为闭环。
图5a展示了在跟踪S04预先存放的路径标记36’的同时,机器人清洁设备10怎样可以遇到第二物体40。如图5a中所展示的,机器人清洁设备10在先前位置11处遇到第二物体40。一旦机器人清洁设备10检测到并且识别到第二物体40,其就切换S05至跟随S06/跟随模式并沿着边缘38”跟随S06第二物体40。当机器人清洁设备10无法通过第二物体40时(因此,当其将需要改变方向以便围绕第二物体导航时),其可以仅切换S05到跟随S06边界38、38’或边缘38”。换言之,当其直接朝着并且因此基本上行驶到第二物体40中时,其可以仅切换S05。
图5a进一步展示了如垂直于被安排成最靠近第二物体40的边缘部分44和边缘部分44的一系列预先记录的路径标记36’而测量的距离R。如参照图5b和图5c所描述的,距离R可以确定机器人清洁设备10的未来决定。
当机器人清洁设备10到达如图5a中所示出的当前位置P时,其将再次遇到预先记录的路径标记36’并且然后具有两种继续的可能性。这两种可能性分别在图5b和图5c中加以展示。
图5b展示了在处理单元16检测到已经完全包围第二物体40之前,在遇到预先记录的路径标记36’之后,机器人清洁设备10将如何继续跟随S06第二物体40的边缘38”。当处理单元16检测到完全包围了第二物体时,机器人清洁设备10切换回至以偏移D跟踪S04预先记录的路径标记36’。如在图5b中可以看到的,这种围绕第二设备的完整循环可能导致对特定区域(在所展示的情况下,靠近第二物体40的下边缘部分44的区域)的双重清洁。对第二物体40的完整包围可以向机器人清洁设备10提供关于第二物体40的准确形状和位置/延伸部的信息。
仍参照图5b,如果检测到距离R大于偏移D的一半,则机器人清洁设备10可以决定完全包围第二物体40。可以例如由处理单元16通过对映射图进行连续地分析来检测这种情况。当距离R大于偏移D的一半时,靠近下边缘部分44的区域不是完全清洁的并且因此机器人清洁设备10可以决定完全包围第二物体44以便清洁此区域。
另一方面,如果处理单元16检测到距离R小于偏移D的一半或大约与偏移D的一半相同,则如在图5c中所展示的,在跟随第二障碍物44的边缘38”时,一旦遇到预先存放的路径标记36’,机器人清洁设备10就可以切换回至跟踪S04预先存放的路径标记36’。在图5c中,当机器人清洁设备10到达位置S时,遇到预先记录的路径标记36’。因此,在位置S处,机器人清洁设备10可以从跟随S06切换回至跟踪S04预先记录的路径标记。
现在参照图6a和图6b(其展示了通过封闭和拆分环路42以便形成两个环路42’、42”来简化S08环路42的步骤),如果以下将解释的某些条件适用,则环路42将仅被封闭和拆分S08a。通过如之前所描述的向外清洁示例来展示对环路42的简化S08。图6a与图6b之间的箭头示意性地展示了简化S08步骤。
图6a展示了机器人清洁设备10如何通过以下方式来清洁表面35:开始跟随S02被安排在待清洁的表面35内的第二物体34’的边界38’以及通过跟踪S04预先记录的路径标记36’来执行向外清洁。虚线位置11再次展示了机器人清洁设备10的先前位置11,在所展示的情况下,所述先前位置为清洁的起点。从跟随S02第二物体34’起,机器人清洁设备10已经向外移动,直到其遇到呈边界38的形式的外部第一物体34为止,在所述边界处,其切换S05到跟随S06外部第一物体34的边缘38的墙壁。
因此,图6a展示了机器人清洁设备10可以从被安排在待清洁的表面35内的物体34’、40开始。因此,所述方法当机器人清洁设备10例如开始在第二物体34’、40处进行清洁时工作良好,如图5a至图5c中所展示的。
图6b展示了可以如何将环路42封闭并拆分S08a成限定了多个区域46’、46”的多个环路42’、42”。为了简化S08清洁,处理单元16将当前闭环42封闭并拆分S08a成第一和第二环路42’、42”。可以例如在机器人清洁设备10到达其当前位置P时完成这一点。简化包括在图6b中指示的位置处添加桥序列48。这些桥序列48可以包括虚拟地添加的路径标记36,所述路径标记可由机器人清洁设备10在分别对待清洁的第一区域46’和第二区域46”进行清洁时进行跟踪S04。
桥序列48可以具有比偏移D更小的长度L1、L2,否则桥序列48将基于不存在添加桥序列的任何物体34、34’、40或障碍物的假设。因此,不存在任何所作出的假设。桥序列48基于不存在添加这些桥序列48的任何物体或障碍物的知识。
图6b中所展示的距离R1、R2是在垂直于机器人清洁设备10的移动方向A的方向上在两个相邻序列部分之间测量的,每个序列部分包括多个记录的路径标记36、36’。距离R1、R2必须小于偏移D,否则处理单元16将不会添加如以上所描述的桥序列48。
可以在许多情况下(如例如,同样在图5c中所展示的映射图中)应用所描述的对环路的封闭和拆分S08a。如果当前序列部分与相邻序列部分之间的确定距离R、R1、R2小于偏移D,则可以例如在图5c中的位置B处添加桥序列48’,以便简化当前环路42。
当机器人清洁设备10完成第一区域46’时,将通过跟踪S04第二环路42”的预先记录的路径标记36’来清洁第二区域46”。
图7展示了由例如通过门洞而互连的两个房间组成的另一个待清洁的表面35’。在图7中,机器人清洁设备10已经清洁了待清洁的第一区域46’,并且已经通过添加两个桥序列48(从而使得环路42被简化成两个环路42’、42”)来简化了环路42。开始位置11展示了机器人清洁设备10开始通过以规则间隔记录S03路径标记36的同时跟随S02物体34的边界38来开始其清洁。当机器人清洁设备10到达其当前位置P时,其将检测到在为预先记录的路径标记36’中的任何一个路径标记建立偏移D的情况下,其无法再跟踪S04任何预先记录的路径标记36’并且将因此记录第一区域46’已经被完全清洁。
然后,机器人清洁设备10将移动S09到待清洁的第二区域46”并通过跟踪S04第二环路42”的预先记录的路径标记36’来完成此第二区域46”。
如图7中示意性地展示的,可能有益的是,在第一物体34、34’的拐角50中开始清洁,因为这简化了映射图以及因此环路42’、42”的形状。
图8以流程图来展示了根据本发明的方法步骤。每当遇到预先记录的路径标记36’或第二、第三、第四等物体40或者如果环路42需要被简化时,可以重复步骤S02至S08。
尽管现在已经通过各种示例来描述了本发明,但是本发明不限于这些特定示例。根据本发明的方法是多功能且通用的并且可以应用于具有简单或非常复杂的布局的许多可能的待清洁的表面。
进一步地,从跟随S02边界38、38’开始,直到完成清洁为止,连续地记录S03以上所描述的路径标记36、36’。
另外地,尽管在附图中未展示,但是机器人清洁设备10和处理单元16分别可以通过将待清洁的表面35拆分成两个或更多个表面来决定待清洁的表面35是否太大。在这种情况下,机器人清洁设备10可以被配置成用于跟随两个表面之间的边线或边界桥序列,以便封闭大表面的环路并且以便确保沿着边界桥序列不存在任何障碍物。边界桥序列可以甚至比偏移D更长,并且因此需要验证是否可以作出沿着边界桥序列未安排任何物体的假设。对大表面的这种拆分因此还可以是简化步骤的一部分。
上文主要参照一些实施例对本发明进行了描述。然而,本领域技术人员容易了解的是,除了上文公开的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。
Claims (15)
1.一种在待清洁的表面(35,35’)上操作机器人清洁设备(10)的方法,所述方法由所述机器人清洁设备(10)执行,所述方法包括以下步骤:
当在所述表面上以一定间隔记录(S03)路径标记(36)时,跟随(S02)第一物体(34,34’)的边界(38,38’),所述路径标记包括位置信息;
响应于遇到预先记录的路径标记中的一个或多个,以偏移(D)跟踪(S04)所述预先记录的路径标记(36’);以及
在检测到第二物体之后,从跟踪所述预先记录的路径标记切换(S05)到跟随(S06)所述第二物体(40)的边缘(38”)。
2.根据权利要求1所述的方法,其中,所述机器人清洁设备跟随所述第二物体(40)的所述边缘(38”)直到再次遇到预先记录的路径标记(36’)。
3.根据权利要求1所述的方法,其中,所述机器人清洁设备跟随所述第二物体(40)的所述边缘(38”)直到所述第二物体被包围。
4.根据以上权利要求中任一项所述的方法,包括以下步骤:在遇到所述预先记录的路径标记(36’)中的一个或多个之后识别(S07)限定待清洁的区域的环路(42),其中,所述环路包括多个所述预先记录的路径标记。
5.根据权利要求4所述的方法,包括以下步骤:简化(S08)所述环路(42)以便生成有效清洁模式。
6.根据权利要求5所述的方法,其中,所述简化包括以下步骤:将所述环路(42)封闭和/或拆分(S08a)成限定多个待清洁的区域(46’,46”)的多个环路(42’,42”),从而使得所述机器人清洁设备可以一个接一个地清洁所述区域。
7.根据权利要求6所述的方法,其中,在所述机器人清洁设备在任何方向上移动而不能够向所述预先记录的路径标记(36’)中的任何路径标记建立所述偏移(D)时遇到预先记录的路径标记的情况下,所述多个待清洁的区域中的第一区域(46’)被认为是清洁的。
8.根据权利要求7所述的方法,包括以下步骤:从所述第一区域(46’)移动(S09)到所述多个待清洁的区域中待清洁的第二区域(46”)并且跟踪(S04)限定所述待清洁的第二区域的环路(42”)的预先记录的路径标记(36’)。
9.根据权利要求1-3中任一项所述的方法,其中,如在所述机器人清洁设备的移动方向上看到的,所述路径标记(36)记录在所述机器人清洁设备的左或右外围或者所述机器人清洁设备的清洁开口(18)处。
10.根据权利要求9所述的方法,其中,如在所述机器人清洁设备的移动方向上看到的,所述机器人清洁设备使用所述机器人清洁设备的右或左外围或者所述机器人清洁设备的所述清洁开口(18)来跟踪(S04)左或右预先记录的路径标记(36’)。
11.根据权利要求9所述的方法,其中,所述机器人清洁设备跟随(S02,S06)所述第一物体(34,34’)的所述边界(38,38’)或所述第二物体(34,34’,40)的所述边缘(38”),从而使得所述路径标记记录在所述机器人清洁设备的所述左或右外围上或者在所述机器人清洁设备的位于远离所述边界(38,38’)或所述边缘(38”)的所述清洁开口(18)上。
12.根据权利要求1-3中任一项所述的方法,其中,当检测到所述第一物体的拐角时,开始对路径标记(36,36’)进行所述记录(S03)。
13.一种机器人清洁设备(10),包括:
主体(11);
推进系统(12,13,15a,15b),所述推进系统被安排成用于移动所述机器人清洁设备;
接触检测部分(32),所述接触检测部分连接至所述主体(11)并且被安排成用于检测所述机器人清洁设备是否与物体接触;
航位推算传感器(30,30’),所述航位推算传感器可操作地连接至所述推进系统;
处理单元(16),所述处理单元被安排成用于控制所述推进系统;
其中,所述处理单元(16)连接至所述航位推算传感器并且被配置成用于执行根据权利要求1至12中任一项所述的方法。
14.一种计算机程序(25),包括计算机可执行指令,所述计算机可执行指令用于当在包括在机器人清洁设备(10)中的处理单元(16)上执行所述计算机可执行指令时使所述机器人清洁设备(10)执行如权利要求1至12中任一项所述的步骤。
15.一种包括计算机可读存储介质(26)的计算机程序产品,所述计算机可读存储介质(26)具有在其中实施的根据权利要求14所述的计算机程序(25)。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2014/077954 WO2016095966A1 (en) | 2014-12-16 | 2014-12-16 | Cleaning method for a robotic cleaning device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106998984A CN106998984A (zh) | 2017-08-01 |
CN106998984B true CN106998984B (zh) | 2021-07-27 |
Family
ID=52144680
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201480084067.6A Active CN106998984B (zh) | 2014-12-16 | 2014-12-16 | 用于机器人清洁设备的清洁方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10678251B2 (zh) |
EP (1) | EP3234713B1 (zh) |
JP (1) | JP6532530B2 (zh) |
KR (1) | KR102326401B1 (zh) |
CN (1) | CN106998984B (zh) |
WO (1) | WO2016095966A1 (zh) |
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6879478B2 (ja) | 2014-12-16 | 2021-06-02 | アクチエボラゲット エレクトロルックス | ロボット掃除機のための経験ベースロードマップ |
EP3234713B1 (en) * | 2014-12-16 | 2022-06-15 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US11400595B2 (en) | 2015-01-06 | 2022-08-02 | Nexus Robotics Llc | Robotic platform with area cleaning mode |
US10328573B2 (en) * | 2015-01-06 | 2019-06-25 | Discovery Robotics | Robotic platform with teach-repeat mode |
US9722640B2 (en) | 2015-01-06 | 2017-08-01 | Discovery Robotics | Method and system for determining precise robotic position and orientation using near-simultaneous radio frequency measurements |
US10518407B2 (en) | 2015-01-06 | 2019-12-31 | Discovery Robotics | Apparatus and methods for providing a reconfigurable robotic platform |
DE102015109775B3 (de) | 2015-06-18 | 2016-09-22 | RobArt GmbH | Optischer Triangulationssensor zur Entfernungsmessung |
DE102015114883A1 (de) | 2015-09-04 | 2017-03-09 | RobArt GmbH | Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters |
DE102015119501A1 (de) | 2015-11-11 | 2017-05-11 | RobArt GmbH | Unterteilung von Karten für die Roboternavigation |
DE102015119865B4 (de) | 2015-11-17 | 2023-12-21 | RobArt GmbH | Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters |
DE102015121666B3 (de) | 2015-12-11 | 2017-05-24 | RobArt GmbH | Fernsteuerung eines mobilen, autonomen Roboters |
US11772270B2 (en) | 2016-02-09 | 2023-10-03 | Cobalt Robotics Inc. | Inventory management by mobile robot |
US10265859B2 (en) | 2016-02-09 | 2019-04-23 | Cobalt Robotics Inc. | Mobile robot with removable fabric panels |
DE102016102644A1 (de) | 2016-02-15 | 2017-08-17 | RobArt GmbH | Verfahren zur Steuerung eines autonomen mobilen Roboters |
KR101930870B1 (ko) | 2016-08-03 | 2018-12-20 | 엘지전자 주식회사 | 이동 로봇 및 그 제어방법 |
JP7054604B2 (ja) * | 2016-10-11 | 2022-04-14 | 日立グローバルライフソリューションズ株式会社 | 自律走行型電気掃除機 |
AU2017363769B2 (en) * | 2016-11-24 | 2020-10-29 | Lg Electronics Inc. | Mobile robot and control method thereof |
US11724399B2 (en) | 2017-02-06 | 2023-08-15 | Cobalt Robotics Inc. | Mobile robot with arm for elevator interactions |
JP2020509500A (ja) | 2017-03-02 | 2020-03-26 | ロブアート ゲーエムベーハーROBART GmbH | 自律移動ロボットの制御方法 |
CN110621208A (zh) | 2017-06-02 | 2019-12-27 | 伊莱克斯公司 | 检测机器人清洁设备前方的表面的高度差的方法 |
JP2020533720A (ja) * | 2017-09-12 | 2020-11-19 | ロブアート ゲーエムベーハーROBART GmbH | 自律移動ロボットによる未知の環境の探索 |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
CN107943036B (zh) * | 2017-11-28 | 2019-03-19 | 深圳市杉川机器人有限公司 | 清扫区域选择方法及装置 |
CN108873880A (zh) * | 2017-12-11 | 2018-11-23 | 北京石头世纪科技有限公司 | 智能移动设备及其路径规划方法、计算机可读存储介质 |
CN108008728B (zh) * | 2017-12-12 | 2020-01-17 | 深圳市银星智能科技股份有限公司 | 清洁机器人以及基于清洁机器人的最短路径规划方法 |
US10293489B1 (en) | 2017-12-15 | 2019-05-21 | Ankobot (Shanghai) Smart Technologies Co., Ltd. | Control method and system, and cleaning robot using the same |
CN108125622A (zh) * | 2017-12-15 | 2018-06-08 | 珊口(上海)智能科技有限公司 | 控制方法、系统及所适用的清洁机器人 |
CN109984678B (zh) * | 2017-12-29 | 2021-08-06 | 速感科技(北京)有限公司 | 一种清洁机器人及清洁机器人的清洁方法 |
CN108445878B (zh) * | 2018-02-28 | 2022-04-01 | 北京奇虎科技有限公司 | 一种用于扫地机器人的障碍物处理方法和扫地机器人 |
KR102188797B1 (ko) * | 2018-04-02 | 2020-12-08 | 에브리봇 주식회사 | 로봇 청소기 및 그 제어 방법 |
WO2019199027A1 (ko) * | 2018-04-09 | 2019-10-17 | 엘지전자 주식회사 | 로봇 청소기 |
WO2019203878A1 (en) * | 2018-04-20 | 2019-10-24 | Discovery Robotics | Apparatus and methods of a service robotic platform |
US20210268650A1 (en) * | 2018-06-29 | 2021-09-02 | Sony Corporation | Control device and control method |
CN108784544B (zh) * | 2018-07-16 | 2020-11-27 | 广州俊德信息科技有限公司 | 清洁电器的巡航清洁方法、系统、设备和可存储介质 |
KR102521940B1 (ko) * | 2018-08-27 | 2023-04-14 | 엘지전자 주식회사 | 로봇 청소기 및 그 로봇 청소기의 제어 방법 |
KR102603006B1 (ko) * | 2018-10-12 | 2023-11-15 | 에이비 엘렉트로룩스 | 진공 청소기 |
CN111185899B (zh) * | 2018-11-14 | 2022-05-13 | 苏州科瓴精密机械科技有限公司 | 机器人控制方法及机器人系统 |
CN109464074B (zh) * | 2018-11-29 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | 区域划分方法、分区清扫方法及其机器人 |
EP3907575B1 (en) * | 2019-01-03 | 2023-09-06 | Ecovacs Robotics Co., Ltd. | Dynamic region division and region channel identification method, and cleaning robot |
CN112631267B (zh) * | 2019-10-09 | 2023-01-24 | 苏州宝时得电动工具有限公司 | 自动行走设备控制方法及自动行走设备 |
CN110908378B (zh) * | 2019-11-28 | 2022-06-21 | 深圳乐动机器人有限公司 | 一种机器人沿边的方法及机器人 |
USD921584S1 (en) * | 2020-02-14 | 2021-06-08 | Remedee Labs | Electric power supply station |
CN111399524B (zh) * | 2020-03-27 | 2023-06-06 | 深圳银星智能集团股份有限公司 | 机器人清扫方法及机器人 |
CN111531536B (zh) * | 2020-05-06 | 2021-10-15 | 上海高仙自动化科技发展有限公司 | 机器人控制方法、机器人、电子设备和可读存储介质 |
CN111562567B (zh) * | 2020-05-11 | 2021-04-30 | 北京驭光科技发展有限公司 | 移动装置的障碍物侦测系统、移动装置及扫地机器人 |
CN113885485B (zh) * | 2020-06-17 | 2023-12-22 | 苏州科瓴精密机械科技有限公司 | 机器人行走控制方法、系统,机器人及存储介质 |
CN112137529B (zh) | 2020-09-28 | 2021-08-24 | 珠海市一微半导体有限公司 | 一种基于密集障碍物的清扫控制方法 |
CN113693521B (zh) * | 2021-02-10 | 2023-05-05 | 北京石头创新科技有限公司 | 自动清洁设备控制方法及装置、介质及电子设备 |
CN112971621A (zh) * | 2021-03-11 | 2021-06-18 | 河北工业大学 | 室内智能清洁系统及控制方法 |
CN115191868A (zh) * | 2021-04-09 | 2022-10-18 | 美智纵横科技有限责任公司 | 沿边清洁方法及清洁机器人 |
WO2023198211A1 (zh) * | 2022-04-14 | 2023-10-19 | 苏州宝时得电动工具有限公司 | 清洁机器人及其控制方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6605156B1 (en) * | 1999-07-23 | 2003-08-12 | Dyson Limited | Robotic floor cleaning device |
DE102010000174A1 (de) * | 2010-01-22 | 2011-07-28 | Vorwerk & Co. Interholding GmbH, 42275 | Verfahren zur Reinigung eines Raumes mittels eines selbsttätig verfahrbaren Reinigungsgerätes |
CN102150030A (zh) * | 2008-09-12 | 2011-08-10 | Mts系统公司 | 在风洞中使用的自动驾驶系统 |
Family Cites Families (733)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1286321A (en) | 1916-10-09 | 1918-12-03 | Hoover Suction Sweeper Co | Brush. |
US1401007A (en) | 1918-04-22 | 1921-12-20 | Hoover Suction Sweeper Co | Suction-sweeper |
US3010129A (en) | 1957-11-04 | 1961-11-28 | Whirlpool Co | Perambulating kitchen appliances and control means therefor |
US3233274A (en) | 1963-01-28 | 1966-02-08 | Tennant Co G H | Sweeping machine dust separator apparatus |
US3550714A (en) | 1964-10-20 | 1970-12-29 | Mowbot Inc | Lawn mower |
US3570227A (en) | 1969-01-16 | 1971-03-16 | Mowbot Inc | Self-propelled random motion lawnmower |
DE2020220A1 (de) | 1970-04-25 | 1971-11-11 | Bosch Gmbh Robert | Fahrzeug |
GB1360261A (en) | 1971-09-23 | 1974-07-17 | Dixon Co Ltd R G | Floor treating machines |
CH566763A5 (zh) | 1973-07-03 | 1975-09-30 | Leifheit International | |
US4119900A (en) | 1973-12-21 | 1978-10-10 | Ito Patent-Ag | Method and system for the automatic orientation and control of a robot |
GB1500311A (en) | 1975-01-10 | 1978-02-08 | Dixon & Co Ltd R D | Floor treating machines |
US4036147A (en) | 1975-03-28 | 1977-07-19 | Westling Wayne A | Rapid transit system |
DE2533071C3 (de) | 1975-07-24 | 1979-07-12 | Leifheit International Guenter Leifheit Gmbh, 5408 Nassau | Bodenkehrmaschine |
JPS53104142A (en) | 1977-02-23 | 1978-09-11 | Takeda Riken Ind Co Ltd | Analog memory |
FR2445611A1 (fr) | 1978-12-29 | 1980-07-25 | Thomson Csf | Generateur d'ondes radioelectriques pour hyperfrequence |
GB2038615B (en) | 1978-12-31 | 1983-04-13 | Nintendo Co Ltd | Self-moving type vacuum cleaner |
US4369543A (en) | 1980-04-14 | 1983-01-25 | Jen Chen | Remote-control radio vacuum cleaner |
DE3100497A1 (de) | 1981-01-09 | 1982-08-26 | Leifheit International Günter Leifheit GmbH, 5408 Nassau | "bodenkehrmaschine" |
DE3478824D1 (en) | 1983-10-26 | 1989-08-03 | Automax Kk | Control system for mobile robot |
CH661981A5 (de) | 1984-02-13 | 1987-08-31 | Haenni & Cie Ag | Optisches messgeraet zur beruehrungslosen abstandsmessung. |
JPS6197711A (ja) | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | 赤外線追尾ロボツトシステム |
US4800978A (en) | 1984-11-09 | 1989-01-31 | Nec Corporation | Magnetic object detecting system for automated guided vehicle system |
JPS6286414A (ja) | 1985-10-12 | 1987-04-20 | Daifuku Co Ltd | 移動車の障害物検出装置 |
AU598758B2 (en) | 1985-10-15 | 1990-07-05 | Hans-Reinhard Knepper | Automatic steering control for a vehicle |
JPH078271B2 (ja) | 1985-11-08 | 1995-02-01 | 松下電器産業株式会社 | 自走式掃除機 |
JPS62120510A (ja) | 1985-11-21 | 1987-06-01 | Hitachi Ltd | 自動掃除機の制御方法 |
JPS62152424A (ja) | 1985-12-25 | 1987-07-07 | 松下電器産業株式会社 | 自走式掃除機 |
JPS62152421A (ja) | 1985-12-25 | 1987-07-07 | 松下電器産業株式会社 | 自走式掃除機 |
JPH07120196B2 (ja) | 1986-11-18 | 1995-12-20 | 三洋電機株式会社 | 移動車の進行方向制御方式 |
AU7484287A (en) | 1986-11-28 | 1988-06-16 | Denning Mobile Robotics Inc. | Node map system and method for vehicle |
FR2620070A2 (fr) | 1986-12-11 | 1989-03-10 | Jonas Andre | Unite mobile autoguidee et appareil de nettoyage tel qu'un aspirateur comportant une telle unite |
JPH0824648B2 (ja) | 1987-01-20 | 1996-03-13 | 松下電器産業株式会社 | 自走式掃除機 |
US4864511A (en) | 1987-01-27 | 1989-09-05 | Storage Technology Corporation | Automated cartridge system |
DE3703422A1 (de) | 1987-02-05 | 1988-08-18 | Zeiss Carl Fa | Optoelektronischer abstandssensor |
DE3704375A1 (de) | 1987-02-12 | 1988-08-25 | Wall Verkehrswerbung Gmbh | Sanitaerzelle fuer oeffentliche zwecke |
US5377106A (en) | 1987-03-24 | 1994-12-27 | Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Process for navigating an unmanned vehicle and a vehicle for the same |
JPH0786767B2 (ja) | 1987-03-30 | 1995-09-20 | 株式会社日立製作所 | 自走ロボツトの走行制御方法 |
US4849067A (en) | 1987-07-16 | 1989-07-18 | Texas Instruments Incorporated | Method for etching tungsten |
US4838990A (en) | 1987-07-16 | 1989-06-13 | Texas Instruments Incorporated | Method for plasma etching tungsten |
US4836905A (en) | 1987-07-16 | 1989-06-06 | Texas Instruments Incorporated | Processing apparatus |
US4886570A (en) | 1987-07-16 | 1989-12-12 | Texas Instruments Incorporated | Processing apparatus and method |
US4822450A (en) | 1987-07-16 | 1989-04-18 | Texas Instruments Incorporated | Processing apparatus and method |
US4872938A (en) | 1987-07-16 | 1989-10-10 | Texas Instruments Incorporated | Processing apparatus |
US4842686A (en) | 1987-07-17 | 1989-06-27 | Texas Instruments Incorporated | Wafer processing apparatus and method |
JPH064133Y2 (ja) | 1987-09-26 | 1994-02-02 | 株式会社クボタ | 作業車の走行変速装置 |
JPH01180010A (ja) | 1988-01-08 | 1989-07-18 | Sanyo Electric Co Ltd | 移動車 |
US4919224A (en) | 1988-05-16 | 1990-04-24 | Industrial Technology Research Institute | Automatic working vehicular system |
JPH01175669U (zh) | 1988-05-23 | 1989-12-14 | ||
US4954962A (en) | 1988-09-06 | 1990-09-04 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US4918607A (en) | 1988-09-09 | 1990-04-17 | Caterpillar Industrial Inc. | Vehicle guidance system |
US4962453A (en) | 1989-02-07 | 1990-10-09 | Transitions Research Corporation | Autonomous vehicle for working on a surface and method of controlling same |
JPH0313611A (ja) | 1989-06-07 | 1991-01-22 | Toshiba Corp | 自動清掃装置 |
FR2648071B1 (fr) | 1989-06-07 | 1995-05-19 | Onet | Procede et appareil autonomes de nettoyage automatique de sol par execution de missions programmees |
US4989818A (en) | 1989-06-13 | 1991-02-05 | Tennessee Valley Authority | Nozzle dam remote installation system and technique |
US5006302A (en) | 1989-06-13 | 1991-04-09 | Tennessee Valley Authority | Nozzle dam remote installation system and technique |
US4959192A (en) | 1989-06-13 | 1990-09-25 | Tennesse Valley Authority | Nozzle dam translocating system |
US5042861A (en) | 1989-06-13 | 1991-08-27 | Tennessee Valley Authority | Nozzle dam remote installation system and technique |
US5107946A (en) | 1989-07-26 | 1992-04-28 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for moving vehicle |
JPH0744911B2 (ja) | 1989-08-09 | 1995-05-17 | 東京コスモス電機株式会社 | 掃除機 |
JP2652573B2 (ja) | 1989-08-25 | 1997-09-10 | 博夫 庄司 | ゴルフカート走行誘導法 |
JPH075922Y2 (ja) | 1989-09-14 | 1995-02-15 | 近畿通信建設株式会社 | 既設配管用の面取装置 |
JPH03166074A (ja) | 1989-11-27 | 1991-07-18 | Sony Corp | 自走ロボット |
US5023444A (en) | 1989-12-28 | 1991-06-11 | Aktiebolaget Electrolux | Machine proximity sensor |
US5045118A (en) | 1990-05-04 | 1991-09-03 | Tennant Company | Method of removing debris and dust from a carpet |
US5307273A (en) | 1990-08-29 | 1994-04-26 | Goldstar Co., Ltd. | Apparatus and method for recognizing carpets and stairs by cleaning robot |
DE69123594T2 (de) | 1990-09-24 | 1997-05-22 | Andre Colens | Kontinuierliche autonome mähvorrichtung |
EP0479609A3 (en) | 1990-10-05 | 1993-01-20 | Hitachi, Ltd. | Vacuum cleaner and control method thereof |
US5086535A (en) | 1990-10-22 | 1992-02-11 | Racine Industries, Inc. | Machine and method using graphic data for treating a surface |
KR930000081B1 (ko) | 1990-12-07 | 1993-01-08 | 주식회사 금성사 | 청소기의 자동 청소방법 |
JP3135587B2 (ja) | 1991-01-28 | 2001-02-19 | 富士重工業株式会社 | 壁際清掃装置 |
US5155683A (en) | 1991-04-11 | 1992-10-13 | Wadiatur Rahim | Vehicle remote guidance with path control |
WO1993003399A1 (en) | 1991-08-07 | 1993-02-18 | Aktiebolaget Electrolux | Obstacle detecting assembly |
JP3094547B2 (ja) | 1991-09-25 | 2000-10-03 | 松下電器産業株式会社 | 自走式電気掃除機の段差検知装置 |
JP3146563B2 (ja) | 1991-09-26 | 2001-03-19 | 豊和工業株式会社 | 床面清掃ロボット |
NL9200258A (nl) | 1991-10-04 | 1993-05-03 | Lely Nv C Van Der | Werkwijze voor het reinigen van melkbekers en/of het nabehandelen van de spenen van een gemolken dier, inrichting voor het melken van dieren voor het toepassen van deze werkwijze(n), en spoelwerktuig toegepast in een dergelijke inrichting. |
US5245177A (en) | 1991-10-24 | 1993-09-14 | Schiller Norman H | Electro-optical system for detecting the presence of an object within a predetermined detection system |
KR940006561B1 (ko) | 1991-12-30 | 1994-07-22 | 주식회사 금성사 | 자동주행 청소용 로버트의 장애물 감지장치 |
JP3282206B2 (ja) | 1992-01-14 | 2002-05-13 | 松下電器産業株式会社 | 移動作業ロボットの障害物検知装置 |
JPH05224745A (ja) | 1992-02-07 | 1993-09-03 | Matsushita Electric Ind Co Ltd | 移動作業ロボット |
JPH05228090A (ja) | 1992-02-20 | 1993-09-07 | Matsushita Electric Ind Co Ltd | 自走式掃除機 |
US5568589A (en) | 1992-03-09 | 1996-10-22 | Hwang; Jin S. | Self-propelled cleaning machine with fuzzy logic control |
DK36192D0 (da) | 1992-03-18 | 1992-03-18 | Ole Nygaard Andersen | Gulvrengoeringsmaskine |
JPH0680203A (ja) | 1992-03-24 | 1994-03-22 | East Japan Railway Co | 床面洗浄ロボットの制御方法 |
KR940004375B1 (ko) | 1992-03-25 | 1994-05-23 | 삼성전자 주식회사 | 자주식 청소기의 구동방법 |
DE4211789C2 (de) | 1992-04-08 | 1996-07-25 | Kaercher Gmbh & Co Alfred | Bodenkehrmaschine |
DE69312565T2 (de) | 1992-05-15 | 1998-01-02 | Toshiba Kawasaki Kk | Roboter zum Reinigen eines Reisezugwagens |
US5345639A (en) | 1992-05-28 | 1994-09-13 | Tokyo Electron Limited | Device and method for scrubbing and cleaning substrate |
JPH064130A (ja) | 1992-06-23 | 1994-01-14 | Sanyo Electric Co Ltd | 掃除ロボット |
US5279672A (en) | 1992-06-29 | 1994-01-18 | Windsor Industries, Inc. | Automatic controlled cleaning machine |
US5276933A (en) | 1992-07-02 | 1994-01-11 | Tennant Company | Damage resistant recirculation flap |
JP3196355B2 (ja) | 1992-10-20 | 2001-08-06 | 松下電器産業株式会社 | 自走式掃除機 |
US5548511A (en) | 1992-10-29 | 1996-08-20 | White Consolidated Industries, Inc. | Method for controlling self-running cleaning apparatus |
JPH06144215A (ja) | 1992-10-30 | 1994-05-24 | Meidensha Corp | 無人搬送車 |
JPH06179145A (ja) | 1992-12-10 | 1994-06-28 | Toyoda Mach Works Ltd | 搬送台車 |
US5349378A (en) | 1992-12-21 | 1994-09-20 | Robotic Vision Systems, Inc. | Context independent fusion of range and intensity imagery |
FR2700213B1 (fr) | 1993-01-05 | 1995-03-24 | Sfim | Ensemble de guidage. |
US5398632A (en) | 1993-03-08 | 1995-03-21 | Mmc Compliance Engineering, Inc. | Apparatus and method for performing external surface work on ship hulls |
DE9307500U1 (zh) | 1993-05-18 | 1993-07-22 | Bernstein Senso-Plus, 32457 Porta Westfalica, De | |
US5440216A (en) | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
KR0140499B1 (ko) | 1993-08-07 | 1998-07-01 | 김광호 | 청소기와 그 제어방법 |
US5367458A (en) | 1993-08-10 | 1994-11-22 | Caterpillar Industrial Inc. | Apparatus and method for identifying scanned reflective anonymous targets |
JPH0759695A (ja) | 1993-08-24 | 1995-03-07 | Matsushita Electric Ind Co Ltd | 自走式掃除機 |
KR0161031B1 (ko) | 1993-09-09 | 1998-12-15 | 김광호 | 로보트의 위치오차보정장치 |
KR100197676B1 (ko) | 1993-09-27 | 1999-06-15 | 윤종용 | 로보트 청소기 |
JP3319093B2 (ja) | 1993-11-08 | 2002-08-26 | 松下電器産業株式会社 | 移動作業ロボット |
DE4340367C2 (de) | 1993-11-26 | 2003-12-11 | Vorwerk Co Interholding | Gerät zur Bodenpflege |
DE4408982C1 (de) | 1994-03-16 | 1995-05-18 | Deutsche Forsch Luft Raumfahrt | Autonomes Navigationssystem für einen mobilen Roboter oder Manipulator |
SE502834C2 (sv) | 1994-03-29 | 1996-01-29 | Electrolux Ab | Förfarande och anordning för avkänning av hinder vid självgående anordning |
US5646494A (en) | 1994-03-29 | 1997-07-08 | Samsung Electronics Co., Ltd. | Charge induction apparatus of robot cleaner and method thereof |
KR970000328Y1 (ko) | 1994-03-31 | 1997-01-16 | 삼성전자 주식회사 | 자동청소기의 전원공급장치 |
KR970000582B1 (ko) | 1994-03-31 | 1997-01-14 | 삼성전자 주식회사 | 로보트청소기의 주행제어방법 |
JPH07281742A (ja) | 1994-04-04 | 1995-10-27 | Kubota Corp | ビーム光誘導式作業車用の走行制御装置 |
JP2827895B2 (ja) | 1994-04-18 | 1998-11-25 | 株式会社デンソー | 自走ロボットの運行システム |
SE514791C2 (sv) | 1994-06-06 | 2001-04-23 | Electrolux Ab | Förbättrat förfarande för lokalisering av fyrar vid självgående anordning |
KR0161042B1 (ko) | 1994-06-07 | 1999-01-15 | 김광호 | 로보트의 주행제어장치 및 그 방법 |
BE1008470A3 (fr) | 1994-07-04 | 1996-05-07 | Colens Andre | Dispositif et systeme automatique de depoussierage de sol et engin y adapte. |
US5745946A (en) | 1994-07-15 | 1998-05-05 | Ontrak Systems, Inc. | Substrate processing system |
US5454129A (en) | 1994-09-01 | 1995-10-03 | Kell; Richard T. | Self-powered pool vacuum with remote controlled capabilities |
JP3204857B2 (ja) | 1994-09-22 | 2001-09-04 | 日本輸送機株式会社 | 自動掃除機 |
DE4439427B4 (de) | 1994-11-04 | 2004-04-08 | Vorwerk & Co. Interholding Gmbh | Staubsauger zur Pflege von Bodenbelägen |
US5560077A (en) | 1994-11-25 | 1996-10-01 | Crotchett; Diane L. | Vacuum dustpan apparatus |
US5698957A (en) | 1995-04-24 | 1997-12-16 | Advance Machine Company | Over current protective circuit with time delay for a floor cleaning machine |
IL113913A (en) | 1995-05-30 | 2000-02-29 | Friendly Machines Ltd | Navigation method and system |
JPH08326025A (ja) | 1995-05-31 | 1996-12-10 | Tokico Ltd | 清掃ロボット |
JPH08335112A (ja) | 1995-06-08 | 1996-12-17 | Minolta Co Ltd | 移動作業ロボットシステム |
JPH0944240A (ja) | 1995-08-01 | 1997-02-14 | Kubota Corp | 移動車の誘導装置 |
JPH0947413A (ja) | 1995-08-08 | 1997-02-18 | Minolta Co Ltd | 清掃ロボット |
JPH09150741A (ja) | 1995-11-29 | 1997-06-10 | Toyota Auto Body Co Ltd | 重量物運搬用の電動台車 |
KR0168189B1 (ko) | 1995-12-01 | 1999-02-01 | 김광호 | 로보트의 환경인식장치 및 그 제어방법 |
JPH09185410A (ja) | 1996-01-08 | 1997-07-15 | Hitachi Electric Syst:Kk | 自律走行車の走行制御方法及び走行制御装置 |
US5852984A (en) | 1996-01-31 | 1998-12-29 | Ishikawajimi-Harima Heavy Industries Co., Ltd. | Underwater vehicle and method of positioning same |
US5890250A (en) | 1996-02-02 | 1999-04-06 | Sky Robitics, Inc. | Robotic washing apparatus |
NL1002487C2 (nl) | 1996-02-29 | 1997-09-01 | Maasland Nv | Constructie met een stalinrichting voor dieren. |
JPH09244730A (ja) | 1996-03-11 | 1997-09-19 | Komatsu Ltd | ロボットシステムおよびロボットの制御装置 |
SE509317C2 (sv) | 1996-04-25 | 1999-01-11 | Electrolux Ab | Munstycksarrangemang för en självgående dammsugare |
SE506372C2 (sv) | 1996-04-30 | 1997-12-08 | Electrolux Ab | Självgående anordning |
US5935179A (en) | 1996-04-30 | 1999-08-10 | Aktiebolaget Electrolux | System and device for a self orienting device |
JP3493539B2 (ja) | 1996-06-03 | 2004-02-03 | ミノルタ株式会社 | 走行作業ロボット |
US6142252A (en) | 1996-07-11 | 2000-11-07 | Minolta Co., Ltd. | Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route |
US5778554A (en) | 1996-07-15 | 1998-07-14 | Oliver Design, Inc. | Wafer spin dryer and method of drying a wafer |
US5926909A (en) | 1996-08-28 | 1999-07-27 | Mcgee; Daniel | Remote control vacuum cleaner and charging system |
JPH10105236A (ja) | 1996-09-30 | 1998-04-24 | Minolta Co Ltd | 移動体の位置決め装置および移動体の位置決め方法 |
ES2143825T3 (es) | 1996-10-17 | 2000-05-16 | Daimler Chrysler Ag | Procedimiento para la aplicacion de una lamina protectora autoadhesiva sobre carrocerias y dispositivo para la realizacion del mismo. |
DE69737926T2 (de) | 1996-10-21 | 2008-04-10 | Ebara Corp. | Reinigungsvorrichtung |
US5987696A (en) | 1996-12-24 | 1999-11-23 | Wang; Kevin W. | Carpet cleaning machine |
US5858111A (en) | 1997-01-21 | 1999-01-12 | Marrero; Lou | Aircraft maintenance apparatus and method of maintaining same |
EP0954773B1 (de) | 1997-01-22 | 2002-09-04 | Siemens Aktiengesellschaft | Verfahren und anordnung zur andockpositionierung einer autonomen mobilen einheit |
US6076226A (en) | 1997-01-27 | 2000-06-20 | Robert J. Schaap | Controlled self operated vacuum cleaning system |
US5942869A (en) | 1997-02-13 | 1999-08-24 | Honda Giken Kogyo Kabushiki Kaisha | Mobile robot control device |
US5995884A (en) | 1997-03-07 | 1999-11-30 | Allen; Timothy P. | Computer peripheral floor cleaning system and navigation method |
EP0870461A1 (de) | 1997-04-11 | 1998-10-14 | Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. | Antriebsvorrichtung zum Bewegen eines Roboters oder Fahrzeugs auf flachen, geneigten oder gewölbten Flächen, insbesondere einer Glaskonstruktion |
US5947051A (en) | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
US6251551B1 (en) | 1997-07-17 | 2001-06-26 | Horst Kunze-Concewitz | Method and device for treating two-dimensional substrates, especially silicon slices (wafers), for producing microelectronic components |
US6226830B1 (en) | 1997-08-20 | 2001-05-08 | Philips Electronics North America Corp. | Vacuum cleaner with obstacle avoidance |
US6358325B1 (en) | 1997-08-22 | 2002-03-19 | Micron Technology, Inc. | Polysilicon-silicon dioxide cleaning process performed in an integrated cleaner with scrubber |
SE510524C2 (sv) | 1997-09-19 | 1999-05-31 | Electrolux Ab | Elektroniskt avgränsningssystem |
US5933902A (en) | 1997-11-18 | 1999-08-10 | Frey; Bernhard M. | Wafer cleaning system |
EP1172719B1 (fr) | 1997-11-27 | 2004-02-11 | Solar & Robotics S.A. | Améliorations à des robots mobiles et à leur système de commande |
US6532404B2 (en) | 1997-11-27 | 2003-03-11 | Colens Andre | Mobile robots and their control system |
US6064926A (en) | 1997-12-08 | 2000-05-16 | Caterpillar Inc. | Method and apparatus for determining an alternate path in response to detection of an obstacle |
SE523080C2 (sv) | 1998-01-08 | 2004-03-23 | Electrolux Ab | Dockningssystem för självgående arbetsredskap |
SE511254C2 (sv) | 1998-01-08 | 1999-09-06 | Electrolux Ab | Elektroniskt söksystem för arbetsredskap |
US5999865A (en) | 1998-01-29 | 1999-12-07 | Inco Limited | Autonomous vehicle guidance system |
DE19804195A1 (de) * | 1998-02-03 | 1999-08-05 | Siemens Ag | Bahnplanungsverfahren für eine mobile Einheit zur Flächenbearbeitung |
JPH11267074A (ja) | 1998-03-25 | 1999-10-05 | Sharp Corp | 掃除ロボット |
US6176067B1 (en) | 1998-03-27 | 2001-01-23 | Rippey Corporation | Method for packaging sponge or porous polymeric products |
US6263989B1 (en) | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
EP0999013B1 (en) | 1998-04-28 | 2007-09-26 | Ebara Corporation | Polishing grinding wheel and substrate polishing method with this grinding wheel |
IL124413A (en) | 1998-05-11 | 2001-05-20 | Friendly Robotics Ltd | System and method for area coverage with an autonomous robot |
US6941199B1 (en) | 1998-07-20 | 2005-09-06 | The Procter & Gamble Company | Robotic system |
ES2207955T3 (es) | 1998-07-20 | 2004-06-01 | THE PROCTER & GAMBLE COMPANY | Sistema robotico. |
WO2000007492A1 (de) | 1998-07-31 | 2000-02-17 | Volker Sommer | Haushaltsroboter zum automatischen staubsaugen von bodenflächen |
US6230360B1 (en) | 1998-09-02 | 2001-05-15 | Scott Singleton | Baked good pan cleaner |
DE19849978C2 (de) | 1998-10-29 | 2001-02-08 | Erwin Prasler | Selbstfahrendes Reinigungsgerät |
GB9927129D0 (en) | 1998-11-18 | 2000-01-12 | White Consolidated Ind Inc | Battery power combination vacuum cleaner |
US6726823B1 (en) | 1998-11-28 | 2004-04-27 | Acm Research, Inc. | Methods and apparatus for holding and positioning semiconductor workpieces during electropolishing and/or electroplating of the workpieces |
GB2344750B (en) | 1998-12-18 | 2002-06-26 | Notetry Ltd | Vacuum cleaner |
GB2344888A (en) | 1998-12-18 | 2000-06-21 | Notetry Ltd | Obstacle detection system |
GB9827779D0 (en) * | 1998-12-18 | 1999-02-10 | Notetry Ltd | Improvements in or relating to appliances |
GB2344900A (en) | 1998-12-18 | 2000-06-21 | Notetry Ltd | Robotic floor cleaning device with obstacle detection |
GB2344751B (en) | 1998-12-18 | 2002-01-09 | Notetry Ltd | Vacuum cleaner |
GB2344746A (en) | 1998-12-18 | 2000-06-21 | Notetry Ltd | Vacuum cleaner wherein an alternative air inlet is selected by moving the separating apparatus |
GB2344752A (en) | 1998-12-18 | 2000-06-21 | Notetry Ltd | Handle for a portable appliance e.g. a vacuum cleaner |
US6339735B1 (en) | 1998-12-29 | 2002-01-15 | Friendly Robotics Ltd. | Method for operating a robot |
DK1028325T3 (da) | 1999-02-12 | 2010-01-04 | Plasser Bahnbaumasch Franz | Fremgangsmåde til opmåling af et spor |
US6124694A (en) | 1999-03-18 | 2000-09-26 | Bancroft; Allen J. | Wide area navigation for a robot scrubber |
US6076662A (en) | 1999-03-24 | 2000-06-20 | Rippey Corporation | Packaged sponge or porous polymeric products |
JP4030247B2 (ja) | 1999-05-17 | 2008-01-09 | 株式会社荏原製作所 | ドレッシング装置及びポリッシング装置 |
GB2350696A (en) | 1999-05-28 | 2000-12-06 | Notetry Ltd | Visual status indicator for a robotic machine, eg a vacuum cleaner |
KR100342029B1 (ko) | 1999-06-07 | 2002-06-27 | 탁승호 | 표면 주행체 및 그를 이용한 청소기 |
EP1217930B1 (en) | 1999-06-08 | 2013-08-07 | Diversey, Inc. | Floor cleaning apparatus |
JP4165965B2 (ja) | 1999-07-09 | 2008-10-15 | フィグラ株式会社 | 自律走行作業車 |
GB2355523B (en) | 1999-10-21 | 2004-03-10 | Notetry Ltd | Detection system |
EP1232424A1 (en) * | 1999-11-18 | 2002-08-21 | The Procter & Gamble Company | Home cleaning robot |
US6370452B1 (en) | 1999-12-08 | 2002-04-09 | Samuel T. Pfister | Autonomous vehicle transit system |
US6882334B1 (en) | 1999-12-14 | 2005-04-19 | Gateway, Inc. | Apparatus and method for detection of communication signal loss |
JP2001187009A (ja) | 1999-12-28 | 2001-07-10 | Matsushita Electric Ind Co Ltd | 電気掃除機用吸込具及び電気掃除機 |
US6594844B2 (en) | 2000-01-24 | 2003-07-22 | Irobot Corporation | Robot obstacle detection system |
US8788092B2 (en) | 2000-01-24 | 2014-07-22 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US7155308B2 (en) | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US7039453B2 (en) | 2000-02-08 | 2006-05-02 | Tarun Mullick | Miniature ingestible capsule |
US6443509B1 (en) | 2000-03-21 | 2002-09-03 | Friendly Robotics Ltd. | Tactile sensor |
US6482678B1 (en) | 2000-03-31 | 2002-11-19 | Lam Research Corporation | Wafer preparation systems and methods for preparing wafers |
US6457199B1 (en) | 2000-10-12 | 2002-10-01 | Lam Research Corporation | Substrate processing in an immersion, scrub and dry system |
US6870792B2 (en) | 2000-04-04 | 2005-03-22 | Irobot Corporation | Sonar Scanner |
US6662889B2 (en) | 2000-04-04 | 2003-12-16 | Irobot Corporation | Wheeled platforms |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
US6769004B2 (en) | 2000-04-27 | 2004-07-27 | Irobot Corporation | Method and system for incremental stack scanning |
CA2407992C (en) | 2000-05-01 | 2010-07-20 | Irobot Corporation | Method and system for remote control of mobile robot |
US6845297B2 (en) | 2000-05-01 | 2005-01-18 | Irobot Corporation | Method and system for remote control of mobile robot |
WO2001082766A2 (en) | 2000-05-02 | 2001-11-08 | Personal Robotics, Inc. | Autonomous floor mopping apparatus |
US6633150B1 (en) | 2000-05-02 | 2003-10-14 | Personal Robotics, Inc. | Apparatus and method for improving traction for a mobile robot |
US6381801B1 (en) | 2000-05-10 | 2002-05-07 | Clean Up America, Inc. | Self-propelled brushless surface cleaner with reclamation |
US6481515B1 (en) | 2000-05-30 | 2002-11-19 | The Procter & Gamble Company | Autonomous mobile surface treating apparatus |
US6457206B1 (en) | 2000-10-20 | 2002-10-01 | Scott H. Judson | Remote-controlled vacuum cleaner |
TW495416B (en) | 2000-10-24 | 2002-07-21 | Ebara Corp | Polishing apparatus |
NO313533B1 (no) | 2000-10-30 | 2002-10-21 | Torbjoern Aasen | Mobil robot |
US6615885B1 (en) | 2000-10-31 | 2003-09-09 | Irobot Corporation | Resilient wheel structure |
GB2382251B (en) | 2000-11-17 | 2004-01-07 | Samsung Kwangju Electronics Co | Mobile robot |
US6496754B2 (en) | 2000-11-17 | 2002-12-17 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot and course adjusting method thereof |
KR100642072B1 (ko) | 2000-11-22 | 2006-11-10 | 삼성광주전자 주식회사 | 알에프모듈을 이용한 모빌로봇 시스템 |
US6571415B2 (en) | 2000-12-01 | 2003-06-03 | The Hoover Company | Random motion cleaner |
SE0004466D0 (sv) | 2000-12-04 | 2000-12-04 | Abb Ab | Mobile Robot |
US6661239B1 (en) | 2001-01-02 | 2003-12-09 | Irobot Corporation | Capacitive sensor systems and methods with increased resolution and automatic calibration |
US6658325B2 (en) | 2001-01-16 | 2003-12-02 | Stephen Eliot Zweig | Mobile robotic with web server and digital radio links |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
JP4426181B2 (ja) | 2001-01-25 | 2010-03-03 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | サイクロイド移動を介して表面を真空洗浄するためのロボット |
JP2004192017A (ja) | 2001-02-06 | 2004-07-08 | Dainippon Printing Co Ltd | Icカードを装着した移動体通信端末を利用した情報家電端末の遠隔制御システムとそれに使用する移動体通信端末とicカード |
USD471243S1 (en) | 2001-02-09 | 2003-03-04 | Irobot Corporation | Robot |
US6810305B2 (en) | 2001-02-16 | 2004-10-26 | The Procter & Gamble Company | Obstruction management system for robots |
SE518482C2 (sv) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Hinderavkänningssystem för en självgående städapparat |
SE518483C2 (sv) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Hjulupphängning för en självgående städapparat |
SE518683C2 (sv) | 2001-03-15 | 2002-11-05 | Electrolux Ab | Förfarande och anordning för positionsbestämning av en autonom apparat |
SE0100924D0 (sv) | 2001-03-15 | 2001-03-15 | Electrolux Ab | Energy-efficient navigation of an autonomous surface treatment apparatus |
EP1379155B1 (en) | 2001-03-16 | 2013-09-25 | Vision Robotics Corporation | Autonomous mobile canister vacuum cleaner |
US6611318B2 (en) | 2001-03-23 | 2003-08-26 | Automatic Timing & Controls, Inc. | Adjustable mirror for collimated beam laser sensor |
JP2002287824A (ja) | 2001-03-26 | 2002-10-04 | Toshiba Tec Corp | 自律走行ロボット |
KR100437372B1 (ko) | 2001-04-18 | 2004-06-25 | 삼성광주전자 주식회사 | 이동통신망을 이용한 로봇 청소 시스템 |
RU2220643C2 (ru) | 2001-04-18 | 2004-01-10 | Самсунг Гванджу Электроникс Ко., Лтд. | Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты) |
AU767561B2 (en) | 2001-04-18 | 2003-11-13 | Samsung Kwangju Electronics Co., Ltd. | Robot cleaner, system employing the same and method for reconnecting to external recharging device |
US6438456B1 (en) | 2001-04-24 | 2002-08-20 | Sandia Corporation | Portable control device for networked mobile robots |
JP4176485B2 (ja) | 2001-05-18 | 2008-11-05 | ラム リサーチ コーポレーション | 表面張力を低減させるプロセスを実現する基板処理の装置および方法 |
JP2002355204A (ja) | 2001-05-31 | 2002-12-10 | Matsushita Electric Ind Co Ltd | 自走式電気掃除機 |
JP3346417B1 (ja) | 2001-06-05 | 2002-11-18 | 松下電器産業株式会社 | 移動装置 |
US6901624B2 (en) | 2001-06-05 | 2005-06-07 | Matsushita Electric Industrial Co., Ltd. | Self-moving cleaner |
US20020185071A1 (en) | 2001-06-08 | 2002-12-12 | Fangjiang Guo | Apparatus for cleaning a teat of a dairy animal |
EP2287696B1 (en) | 2001-06-12 | 2018-01-10 | iRobot Corporation | Method and system for multi-code coverage for an autonomous robot |
US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US7429843B2 (en) | 2001-06-12 | 2008-09-30 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
KR100420171B1 (ko) | 2001-08-07 | 2004-03-02 | 삼성광주전자 주식회사 | 로봇 청소기와 그 시스템 및 제어방법 |
US6667592B2 (en) | 2001-08-13 | 2003-12-23 | Intellibot, L.L.C. | Mapped robot system |
US6580246B2 (en) | 2001-08-13 | 2003-06-17 | Steven Jacobs | Robot touch shield |
SE519967C2 (sv) | 2001-09-11 | 2003-05-06 | Electrolux Ab | Dammbehållare för en dammsugare |
ATE309736T1 (de) | 2001-09-14 | 2005-12-15 | Vorwerk Co Interholding | Selbsttätig verfahrbares bodenstaub- aufsammelgerät, sowie kombination eines derartigen aufsammelgerätes und einer basisstaton |
IL145680A0 (en) | 2001-09-26 | 2002-06-30 | Friendly Robotics Ltd | Robotic vacuum cleaner |
EP1441632B1 (en) | 2001-09-26 | 2013-05-01 | F. Robotics Acquisitions Ltd. | Robotic vacuum cleaner |
GB0126497D0 (en) | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
GB0126499D0 (en) | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
US6775871B1 (en) | 2001-11-28 | 2004-08-17 | Edward Finch | Automatic floor cleaner |
JP2003172578A (ja) | 2001-12-07 | 2003-06-20 | Hitachi Ltd | ネットワーク対応家電機器、家電機器点検システム及び家電機器点検サービス |
US6860206B1 (en) | 2001-12-14 | 2005-03-01 | Irobot Corporation | Remote digital firing system |
US8375838B2 (en) | 2001-12-14 | 2013-02-19 | Irobot Corporation | Remote digital firing system |
US7559269B2 (en) | 2001-12-14 | 2009-07-14 | Irobot Corporation | Remote digital firing system |
EP1331537B1 (en) | 2002-01-24 | 2005-08-03 | iRobot Corporation | Method and system for robot localization and confinement of workspace |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
AU2003207685B2 (en) | 2002-01-25 | 2008-09-25 | James R. Alton | Vacuum cleaner nozzle assembly having edge-cleaning ducts |
US8073439B2 (en) | 2002-02-18 | 2011-12-06 | Infineon Technologies Ag | Control system and method for operating a transceiver |
US6859976B2 (en) | 2002-02-22 | 2005-03-01 | S.C. Johnson & Son, Inc. | Cleaning apparatus with continuous action wiping and sweeping |
SE0202988D0 (sv) | 2002-03-15 | 2002-10-10 | Delaval Holding Ab | A method and an arrangement at a dairy farm |
JP2003280740A (ja) | 2002-03-25 | 2003-10-02 | Matsushita Electric Ind Co Ltd | 移動装置 |
US7117067B2 (en) | 2002-04-16 | 2006-10-03 | Irobot Corporation | System and methods for adaptive control of robotic devices |
US7844364B2 (en) | 2002-04-16 | 2010-11-30 | Irobot Corporation | Systems and methods for dispersing and clustering a plurality of robotic devices |
KR20030082040A (ko) | 2002-04-16 | 2003-10-22 | 삼성광주전자 주식회사 | 로봇 청소기 |
NZ536098A (en) | 2002-04-22 | 2006-10-27 | Restaurant Technology | Automated food processing by scooping container into "french fries" using an automated arm |
US20030205028A1 (en) | 2002-04-22 | 2003-11-06 | Sus Gerald A. | Automated food processing system and method |
US6869633B2 (en) | 2002-04-22 | 2005-03-22 | Restaurant Technology, Inc. | Automated food frying device and method |
US7113847B2 (en) | 2002-05-07 | 2006-09-26 | Royal Appliance Mfg. Co. | Robotic vacuum with removable portable vacuum and semi-automated environment mapping |
JP3902551B2 (ja) | 2002-05-17 | 2007-04-11 | 日本ビクター株式会社 | 移動ロボット |
SE0201739D0 (sv) | 2002-06-07 | 2002-06-07 | Electrolux Ab | Elektroniskt avgränsningssystem |
SE0201740D0 (sv) | 2002-06-07 | 2002-06-07 | Electrolux Ab | Electroniskt diregeringssystem |
KR100764675B1 (ko) | 2002-06-14 | 2007-10-08 | 간사이 페인트 가부시키가이샤 | 코팅 방법 |
US6967275B2 (en) | 2002-06-25 | 2005-11-22 | Irobot Corporation | Song-matching system and method |
KR100483548B1 (ko) | 2002-07-26 | 2005-04-15 | 삼성광주전자 주식회사 | 로봇 청소기와 그 시스템 및 제어 방법 |
DE10231391A1 (de) | 2002-07-08 | 2004-02-12 | Alfred Kärcher Gmbh & Co. Kg | Bodenbearbeitungssystem |
DE10231386B4 (de) | 2002-07-08 | 2004-05-06 | Alfred Kärcher Gmbh & Co. Kg | Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung |
US7150068B1 (en) | 2002-08-12 | 2006-12-19 | Gary Dean Ragner | Light-weight self-propelled vacuum cleaner |
US20040031111A1 (en) | 2002-08-14 | 2004-02-19 | Jose Porchia | Disposable dust receptacle |
US20040031121A1 (en) | 2002-08-14 | 2004-02-19 | Martin Frederick H. | Disposable dust collectors for use with cleaning machines |
KR20040018603A (ko) | 2002-08-23 | 2004-03-04 | 삼성전자주식회사 | 청소장치 |
JP2004096253A (ja) | 2002-08-29 | 2004-03-25 | Sharp Corp | 画像形成方法及び画像形成装置 |
US7054716B2 (en) | 2002-09-06 | 2006-05-30 | Royal Appliance Mfg. Co. | Sentry robot system |
ES2674568T3 (es) | 2002-09-13 | 2018-07-02 | Irobot Corporation | Sistema de control de navegación para un dispositivo robótico |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
US8386081B2 (en) | 2002-09-13 | 2013-02-26 | Irobot Corporation | Navigational control system for a robotic device |
KR101812021B1 (ko) | 2011-09-30 | 2017-12-27 | 삼성전자주식회사 | 로봇청소기 |
KR100459465B1 (ko) | 2002-10-22 | 2004-12-03 | 엘지전자 주식회사 | 로봇 청소기의 먼지흡입구조 |
KR100492577B1 (ko) | 2002-10-22 | 2005-06-03 | 엘지전자 주식회사 | 로봇 청소기의 흡입헤드 |
US6946013B2 (en) | 2002-10-28 | 2005-09-20 | Geo2 Technologies, Inc. | Ceramic exhaust filter |
KR100500842B1 (ko) | 2002-10-31 | 2005-07-12 | 삼성광주전자 주식회사 | 로봇청소기와, 그 시스템 및 제어방법 |
KR100468107B1 (ko) | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | 외부충전장치를 갖는 로봇청소기 시스템 및 로봇청소기의외부충전장치 접속방법 |
KR100542340B1 (ko) | 2002-11-18 | 2006-01-11 | 삼성전자주식회사 | 홈네트워크 시스템 및 그 제어방법 |
JP2004166968A (ja) | 2002-11-20 | 2004-06-17 | Zojirushi Corp | 自走式掃除ロボット |
US7346428B1 (en) | 2002-11-22 | 2008-03-18 | Bissell Homecare, Inc. | Robotic sweeper cleaner with dusting pad |
KR100492582B1 (ko) | 2002-12-13 | 2005-06-03 | 엘지전자 주식회사 | 청소기용 브러시 구조 |
US7015831B2 (en) | 2002-12-17 | 2006-03-21 | Evolution Robotics, Inc. | Systems and methods for incrementally updating a pose of a mobile device calculated by visual simultaneous localization and mapping techniques |
KR100480036B1 (ko) | 2002-12-17 | 2005-03-31 | 엘지전자 주식회사 | 자동 주행 청소기의 자동 충전 장치 및 방법 |
JP2004198212A (ja) | 2002-12-18 | 2004-07-15 | Aisin Seiki Co Ltd | 移動体周辺監視装置 |
KR100486505B1 (ko) | 2002-12-31 | 2005-04-29 | 엘지전자 주식회사 | 로봇 청소기의 자이로 오프셋 보정방법 |
US7043794B2 (en) | 2003-01-09 | 2006-05-16 | Royal Appliance Mfg. Co. | Self-propelled vacuum cleaner with a neutral return spring |
US7222390B2 (en) | 2003-01-09 | 2007-05-29 | Royal Appliance Mfg. Co. | Clutchless self-propelled vacuum cleaner and nozzle height adjustment mechanism therefor |
KR100492588B1 (ko) | 2003-01-23 | 2005-06-03 | 엘지전자 주식회사 | 자동 주행 청소기의 위치정보 인식장치 |
NZ523946A (en) | 2003-01-31 | 2004-06-25 | Carl Ernest Alexander | Portable hygiene compositions comprising a semi-solid gel and active ingredients in bead form for use in personal oral, dental or skin care |
JP2004237075A (ja) | 2003-02-06 | 2004-08-26 | Samsung Kwangju Electronics Co Ltd | 外部充電装置を有するロボット掃除機システム及びロボット掃除機の外部充電装置の接続方法。 |
US7464157B2 (en) | 2003-02-06 | 2008-12-09 | Panasonic Corporation | Information transmission system, information transmission method, electric device communication device, information communication device, communication control program |
KR100485696B1 (ko) | 2003-02-07 | 2005-04-28 | 삼성광주전자 주식회사 | 로봇청소기의 위치인식표지 검출방법 및 이 검출방법을적용한 로봇청소기 |
GB2398394B (en) | 2003-02-14 | 2006-05-17 | Dyson Ltd | An autonomous machine |
JP2004267236A (ja) | 2003-03-05 | 2004-09-30 | Hitachi Ltd | 自走式掃除機およびそれに用いる充電装置 |
US20050010331A1 (en) | 2003-03-14 | 2005-01-13 | Taylor Charles E. | Robot vacuum with floor type modes |
US7805220B2 (en) | 2003-03-14 | 2010-09-28 | Sharper Image Acquisition Llc | Robot vacuum with internal mapping system |
US20040244138A1 (en) | 2003-03-14 | 2004-12-09 | Taylor Charles E. | Robot vacuum |
KR100492590B1 (ko) | 2003-03-14 | 2005-06-03 | 엘지전자 주식회사 | 로봇의 자동충전 시스템 및 복귀방법 |
US7801645B2 (en) | 2003-03-14 | 2010-09-21 | Sharper Image Acquisition Llc | Robotic vacuum cleaner with edge and object detection system |
JP2004275468A (ja) | 2003-03-17 | 2004-10-07 | Hitachi Home & Life Solutions Inc | 自走式掃除機およびその運転方法 |
US7038166B2 (en) | 2003-03-18 | 2006-05-02 | Loma Linda University Medical Center | Containment plenum for laser irradiation and removal of material from a surface of a structure |
US7060932B2 (en) | 2003-03-18 | 2006-06-13 | Loma Linda University Medical Center | Method and apparatus for material processing |
US7835529B2 (en) | 2003-03-19 | 2010-11-16 | Irobot Corporation | Sound canceling systems and methods |
DE10313360A1 (de) | 2003-03-25 | 2004-10-21 | BSH Bosch und Siemens Hausgeräte GmbH | Verfahren und Vorrichtung zum Erfassen der Registrierung des Anschlusses eines Hausgerätes an einer Busleitungsanordnung |
US7331436B1 (en) | 2003-03-26 | 2008-02-19 | Irobot Corporation | Communications spooler for a mobile robot |
JP2004303134A (ja) | 2003-04-01 | 2004-10-28 | Matsushita Electric Ind Co Ltd | 走行装置 |
KR20040086940A (ko) | 2003-04-03 | 2004-10-13 | 엘지전자 주식회사 | 이미지센서를 채용한 이동로봇 및 그의 이동거리 측정방법 |
KR100538949B1 (ko) | 2003-04-04 | 2005-12-27 | 삼성광주전자 주식회사 | 로봇청소기의 구동장치 |
KR100486737B1 (ko) | 2003-04-08 | 2005-05-03 | 삼성전자주식회사 | 청소로봇의 청소궤적 생성·추종방법 및 장치 |
US20040220707A1 (en) | 2003-05-02 | 2004-11-04 | Kim Pallister | Method, apparatus and system for remote navigation of robotic devices |
KR100963387B1 (ko) | 2003-05-07 | 2010-06-14 | 엘지전자 주식회사 | 로봇 진공청소기의 휠어셈블리 |
US7208892B2 (en) | 2003-05-23 | 2007-04-24 | The Hoover Company | Power management system for a floor care appliance |
KR100507926B1 (ko) | 2003-06-30 | 2005-08-17 | 삼성광주전자 주식회사 | 로봇청소기의 구동장치 |
AU2004202836B2 (en) | 2003-07-24 | 2006-03-09 | Samsung Gwangju Electronics Co., Ltd. | Dust Receptacle of Robot Cleaner |
AU2004202834B2 (en) | 2003-07-24 | 2006-02-23 | Samsung Gwangju Electronics Co., Ltd. | Robot Cleaner |
KR100507928B1 (ko) | 2003-07-24 | 2005-08-17 | 삼성광주전자 주식회사 | 로봇청소기 |
JP3844247B2 (ja) | 2003-07-28 | 2006-11-08 | 松下電工株式会社 | 自律移動のための経路生成装置及び該装置を用いた自律移動装置 |
KR100478681B1 (ko) | 2003-07-29 | 2005-03-25 | 삼성광주전자 주식회사 | 바닥살균기능을 구비한 로봇청소기 |
KR100528297B1 (ko) | 2003-07-31 | 2005-11-15 | 삼성전자주식회사 | 로봇 청소기의 제어시스템 |
US7174238B1 (en) | 2003-09-02 | 2007-02-06 | Stephen Eliot Zweig | Mobile robotic system with web server and digital radio links |
US7916898B2 (en) | 2003-09-15 | 2011-03-29 | Deere & Company | Method and system for identifying an edge of a crop |
US7424766B2 (en) | 2003-09-19 | 2008-09-16 | Royal Appliance Mfg. Co. | Sensors and associated methods for controlling a vacuum cleaner |
US7237298B2 (en) | 2003-09-19 | 2007-07-03 | Royal Appliance Mfg. Co. | Sensors and associated methods for controlling a vacuum cleaner |
US6964312B2 (en) | 2003-10-07 | 2005-11-15 | International Climbing Machines, Inc. | Surface traversing apparatus and method |
WO2005036292A1 (ja) | 2003-10-08 | 2005-04-21 | Figla Co.,Ltd. | 自走式作業ロボット |
TWM247170U (en) | 2003-10-09 | 2004-10-21 | Cheng-Shiang Yan | Self-moving vacuum floor cleaning device |
EP1524494A1 (en) | 2003-10-17 | 2005-04-20 | inos Automationssoftware GmbH | Method for calibrating a camera-laser-unit in respect to a calibration-object |
JP4181477B2 (ja) | 2003-10-22 | 2008-11-12 | シャープ株式会社 | 自走式掃除機 |
FR2861856B1 (fr) | 2003-11-03 | 2006-04-07 | Wany Sa | Procede et dispositif pour balayer une surface de maniere automatique |
JP2005141636A (ja) | 2003-11-10 | 2005-06-02 | Matsushita Electric Ind Co Ltd | 自律走行装置 |
US7269877B2 (en) | 2003-12-04 | 2007-09-18 | The Hoover Company | Floor care appliance with network connectivity |
KR20050063547A (ko) | 2003-12-22 | 2005-06-28 | 엘지전자 주식회사 | 로봇 청소기 및 그 운전방법 |
KR20050063546A (ko) | 2003-12-22 | 2005-06-28 | 엘지전자 주식회사 | 로봇 청소기 및 그 운전방법 |
KR20050072300A (ko) | 2004-01-06 | 2005-07-11 | 삼성전자주식회사 | 청소로봇 및 그 제어방법 |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
JP2005211364A (ja) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | 自走式掃除機 |
US20110039690A1 (en) | 2004-02-02 | 2011-02-17 | Nanosys, Inc. | Porous substrates, articles, systems and compositions comprising nanofibers and methods of their use and production |
EP1721279B1 (en) | 2004-02-03 | 2009-11-18 | F. Robotics Aquisitions Ltd. | Robot docking station and robot for use therewith |
WO2005077244A1 (en) | 2004-02-04 | 2005-08-25 | S. C. Johnson & Son, Inc. | Surface treating device with cartridge-based cleaning system |
KR100571834B1 (ko) | 2004-02-27 | 2006-04-17 | 삼성전자주식회사 | 청소 로봇의 바닥 먼지 검출 방법 및 장치 |
US20060020369A1 (en) | 2004-03-11 | 2006-01-26 | Taylor Charles E | Robot vacuum cleaner |
WO2005090354A1 (en) | 2004-03-16 | 2005-09-29 | Glaxo Group Limited | PYRAZOLO[3,4-b] PYRIDINE COMPOUNDS, AND THEIR USE AS PDE4 INHIBITORS |
JP2007530978A (ja) * | 2004-03-29 | 2007-11-01 | エヴォリューション ロボティクス インコーポレイテッド | 反射光源を使用する位置推定方法および装置 |
CN1937948A (zh) | 2004-03-29 | 2007-03-28 | 三洋电机株式会社 | 集尘装置 |
US7603744B2 (en) | 2004-04-02 | 2009-10-20 | Royal Appliance Mfg. Co. | Robotic appliance with on-board joystick sensor and associated methods of operation |
US7617557B2 (en) | 2004-04-02 | 2009-11-17 | Royal Appliance Mfg. Co. | Powered cleaning appliance |
US7185397B2 (en) | 2004-04-09 | 2007-03-06 | Alto U.S. Inc. | Floor cleaning machine |
JP2005296511A (ja) | 2004-04-15 | 2005-10-27 | Funai Electric Co Ltd | 自走式掃除機 |
JP2005296512A (ja) | 2004-04-15 | 2005-10-27 | Funai Electric Co Ltd | 自走式掃除機 |
TWI262777B (en) | 2004-04-21 | 2006-10-01 | Jason Yan | Robotic vacuum cleaner |
USD510066S1 (en) | 2004-05-05 | 2005-09-27 | Irobot Corporation | Base station for robot |
KR100544480B1 (ko) | 2004-05-12 | 2006-01-24 | 삼성광주전자 주식회사 | 로봇 청소기 |
US6856113B1 (en) | 2004-05-12 | 2005-02-15 | Cube Investments Limited | Central vacuum cleaning system motor control circuit mounting post, mounting configuration, and mounting methods |
US8112942B2 (en) | 2004-05-13 | 2012-02-14 | Nbbj Design Llp | Operating room/intervention room |
KR100548895B1 (ko) | 2004-05-17 | 2006-02-02 | 삼성광주전자 주식회사 | 로봇 진공청소기의 충전장치 |
JP4255452B2 (ja) | 2004-05-28 | 2009-04-15 | フクバデンタル株式会社 | イオン歯ブラシ |
US7042342B2 (en) | 2004-06-09 | 2006-05-09 | Lear Corporation | Remote keyless entry transmitter fob with RF analyzer |
US9008835B2 (en) | 2004-06-24 | 2015-04-14 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
KR100613102B1 (ko) | 2004-07-01 | 2006-08-17 | 삼성광주전자 주식회사 | 흡입구조립체와 이를 구비한 진공청소기 |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US20060020370A1 (en) * | 2004-07-22 | 2006-01-26 | Shai Abramson | System and method for confining a robot |
KR20060015082A (ko) | 2004-08-13 | 2006-02-16 | 엘지전자 주식회사 | 로봇 청소기의 브러시 동력전달장치 |
CA2578525A1 (en) | 2004-08-27 | 2006-03-09 | Sharper Image Corporation | Robot cleaner with improved vacuum unit |
KR100595571B1 (ko) | 2004-09-13 | 2006-07-03 | 엘지전자 주식회사 | 로봇 청소기 |
US7271983B2 (en) | 2004-09-16 | 2007-09-18 | Quantum Corporation | Magnetic head with mini-outriggers and method of manufacture |
JP2006087507A (ja) | 2004-09-21 | 2006-04-06 | Sanyo Electric Co Ltd | 自走式掃除機 |
KR100664053B1 (ko) | 2004-09-23 | 2007-01-03 | 엘지전자 주식회사 | 로봇청소기의 청소툴 자동 교환 시스템 및 방법 |
KR100600487B1 (ko) | 2004-10-12 | 2006-07-13 | 삼성광주전자 주식회사 | 로봇 청소기의 좌표보정방법 및 이를 이용한 로봇 청소기시스템 |
US8007221B1 (en) | 2004-10-22 | 2011-08-30 | Irobot Corporation | Lifting apparatus for remote controlled robotic device |
US7499804B2 (en) | 2004-10-22 | 2009-03-03 | Irobot Corporation | System and method for multi-modal control of an autonomous vehicle |
US7499776B2 (en) | 2004-10-22 | 2009-03-03 | Irobot Corporation | Systems and methods for control of an unmanned ground vehicle |
US7499774B2 (en) | 2004-10-22 | 2009-03-03 | Irobot Corporation | System and method for processing safety signals in an autonomous vehicle |
US7499775B2 (en) | 2004-10-22 | 2009-03-03 | Irobot Corporation | System and method for terrain feature tracking |
US8078338B2 (en) | 2004-10-22 | 2011-12-13 | Irobot Corporation | System and method for behavior based control of an autonomous vehicle |
USD526753S1 (en) | 2004-10-26 | 2006-08-15 | Funai Electric Company Limited | Electric vacuum cleaner |
KR100656701B1 (ko) | 2004-10-27 | 2006-12-13 | 삼성광주전자 주식회사 | 로봇청소기 시스템 및 외부충전장치 복귀 방법 |
KR100645379B1 (ko) | 2004-10-29 | 2006-11-15 | 삼성광주전자 주식회사 | 로봇 제어 시스템 및 로봇 제어방법 |
KR100575708B1 (ko) | 2004-11-11 | 2006-05-03 | 엘지전자 주식회사 | 로봇청소기의 거리감지장치 및 방법 |
JP2008519657A (ja) | 2004-11-12 | 2008-06-12 | テナント・カンパニー | 可動フロアクリーナデータ通信 |
JP4464912B2 (ja) | 2004-12-03 | 2010-05-19 | パナソニック株式会社 | ロボット制御装置及び自律移動ロボット |
US7697141B2 (en) | 2004-12-09 | 2010-04-13 | Halliburton Energy Services, Inc. | In situ optical computation fluid analysis system and method |
KR100654447B1 (ko) | 2004-12-15 | 2006-12-06 | 삼성전자주식회사 | 지역별로 존재하는 컨텐츠를 글로벌로 공유하고 거래하는방법 및 시스템 |
US8347088B2 (en) | 2005-02-01 | 2013-01-01 | Newsilike Media Group, Inc | Security systems and methods for use with structured and unstructured data |
US8200700B2 (en) | 2005-02-01 | 2012-06-12 | Newsilike Media Group, Inc | Systems and methods for use of structured and unstructured distributed data |
KR100636270B1 (ko) | 2005-02-04 | 2006-10-19 | 삼성전자주식회사 | 홈 네트워크 시스템 및 그 제어방법 |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
EP2289384B1 (en) | 2005-02-18 | 2013-07-03 | iRobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US20060184293A1 (en) | 2005-02-18 | 2006-08-17 | Stephanos Konandreas | Autonomous surface cleaning robot for wet cleaning |
US7389156B2 (en) | 2005-02-18 | 2008-06-17 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
JP2006231477A (ja) | 2005-02-25 | 2006-09-07 | Mitsubishi Heavy Ind Ltd | 移動体における距離検出手段の校正方法 |
US7757340B2 (en) | 2005-03-25 | 2010-07-20 | S.C. Johnson & Son, Inc. | Soft-surface remediation device and method of using same |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
KR20060108848A (ko) | 2005-04-14 | 2006-10-18 | 엘지전자 주식회사 | 무선 제어가 가능한 청소로봇과 그를 이용한 원격 제어시스템 |
US20060235585A1 (en) | 2005-04-18 | 2006-10-19 | Funai Electric Co., Ltd. | Self-guided cleaning robot |
JP2006296684A (ja) | 2005-04-19 | 2006-11-02 | Funai Electric Co Ltd | 自走式電気掃除機および電気掃除機 |
KR100704483B1 (ko) | 2005-04-25 | 2007-04-09 | 엘지전자 주식회사 | 로봇청소기의 구석 청소 장치 |
KR20060112312A (ko) | 2005-04-25 | 2006-11-01 | 엘지전자 주식회사 | 로봇청소기의 절전제어장치 및 방법 |
JP2006314669A (ja) | 2005-05-16 | 2006-11-24 | Funai Electric Co Ltd | 自走式掃除機 |
KR100677279B1 (ko) | 2005-05-17 | 2007-02-02 | 엘지전자 주식회사 | 로봇 청소기의 범퍼 장치 |
KR100690669B1 (ko) | 2005-05-17 | 2007-03-09 | 엘지전자 주식회사 | 자율 주행 로봇의 위치인식 시스템 |
KR100594165B1 (ko) | 2005-05-24 | 2006-06-28 | 삼성전자주식회사 | 네트워크 기반 로봇 제어 시스템 및 네트워크 기반 로봇제어 시스템에서 로봇 속도 제어 방법 |
ITMO20050151A1 (it) * | 2005-06-14 | 2006-12-15 | Pineschi Massimiliano | Dispositivo per aspirapolvere. |
CN1883889A (zh) | 2005-06-22 | 2006-12-27 | 王冬雷 | 一种适用于清洁机器人的路径规划 |
US20060293788A1 (en) | 2005-06-26 | 2006-12-28 | Pavel Pogodin | Robotic floor care appliance with improved remote management |
US7877166B2 (en) | 2005-06-28 | 2011-01-25 | S.C. Johnson & Son, Inc. | RFID navigational system for robotic floor treater |
US7389166B2 (en) | 2005-06-28 | 2008-06-17 | S.C. Johnson & Son, Inc. | Methods to prevent wheel slip in an autonomous floor cleaner |
US7578020B2 (en) | 2005-06-28 | 2009-08-25 | S.C. Johnson & Son, Inc. | Surface treating device with top load cartridge-based cleaning system |
JP4758155B2 (ja) | 2005-07-05 | 2011-08-24 | 株式会社コーワ | 掃除機用床ノズル及び電気掃除機 |
CN100586356C (zh) | 2005-07-08 | 2010-02-03 | 伊莱克斯公司 | 机器人清洁设备 |
JP4375565B2 (ja) * | 2005-07-12 | 2009-12-02 | 村田機械株式会社 | 走行台車システム |
WO2007037792A2 (en) | 2005-07-20 | 2007-04-05 | Optimus Services, Llc | Robotic floor cleaning with sterile, disposable cartridges |
KR100738890B1 (ko) | 2005-07-22 | 2007-07-12 | 엘지전자 주식회사 | 이동로봇을 이용한 홈 네트워킹 시스템 |
JP4140015B2 (ja) | 2005-07-25 | 2008-08-27 | 株式会社ダイフク | 移動体の走行装置 |
KR100700544B1 (ko) | 2005-08-09 | 2007-03-28 | 엘지전자 주식회사 | 알에프 안테나를 구비한 로봇청소기 |
KR101223478B1 (ko) | 2005-08-10 | 2013-01-17 | 엘지전자 주식회사 | 로봇청소기의 먼지통 착탈 감지 장치 |
JP5054010B2 (ja) | 2005-09-02 | 2012-10-24 | ニート ロボティックス,インコーポレイティド | ロボットのナビゲーション及びロボットの位置を決定するための方法と装置 |
JP4691421B2 (ja) | 2005-09-05 | 2011-06-01 | 三菱レイヨン株式会社 | ニッケルめっき金型の製造方法および製造装置 |
US8317956B2 (en) | 2005-09-14 | 2012-11-27 | Greer Robert W | System, method, and composition for adhering preformed thermoplastic traffic control signage to pavement |
JP5188977B2 (ja) | 2005-09-30 | 2013-04-24 | アイロボット コーポレイション | 個人の相互交流のためのコンパニオンロボット |
US8732895B2 (en) | 2005-10-07 | 2014-05-27 | Cube Investments Limited | Central vacuum cleaner multiple vacuum source control |
WO2007048029A2 (en) | 2005-10-21 | 2007-04-26 | Deere & Company | Systems and methods for obstacle avoidance |
KR100738888B1 (ko) | 2005-10-27 | 2007-07-12 | 엘지전자 주식회사 | 로봇 청소기에 장착된 카메라의 제어 장치 및 방법 |
WO2007051972A1 (en) | 2005-10-31 | 2007-05-10 | Qinetiq Limited | Navigation system |
KR100834761B1 (ko) | 2005-11-23 | 2008-06-05 | 삼성전자주식회사 | 이동 로봇의 자기 위치 인식 방법 및 장치 |
US7693654B1 (en) | 2005-11-23 | 2010-04-06 | ActivMedia Robotics/MobileRobots | Method for mapping spaces with respect to a universal uniform spatial reference |
JP4677888B2 (ja) | 2005-11-24 | 2011-04-27 | パナソニック電工株式会社 | 自律移動掃除機 |
US7721829B2 (en) | 2005-11-29 | 2010-05-25 | Samsung Electronics Co., Ltd. | Traveling robot |
US7441298B2 (en) | 2005-12-02 | 2008-10-28 | Irobot Corporation | Coverage robot mobility |
ES2522926T3 (es) | 2005-12-02 | 2014-11-19 | Irobot Corporation | Robot Autónomo de Cubrimiento |
ES2334064T3 (es) | 2005-12-02 | 2010-03-04 | Irobot Corporation | Robot modular. |
WO2007064989A1 (en) | 2005-12-02 | 2007-06-07 | Tennant Company | Remote configuration of mobile surface maintenance machine settings |
KR101099808B1 (ko) * | 2005-12-02 | 2011-12-27 | 아이로보트 코퍼레이션 | 로봇 시스템 |
EP2816434A3 (en) | 2005-12-02 | 2015-01-28 | iRobot Corporation | Autonomous coverage robot |
US7568259B2 (en) | 2005-12-13 | 2009-08-04 | Jason Yan | Robotic floor cleaner |
KR100778125B1 (ko) | 2005-12-19 | 2007-11-21 | 삼성광주전자 주식회사 | 콤팩트한 로봇청소기 |
EP1800588B1 (de) | 2005-12-20 | 2010-02-24 | Wessel-Werk Gmbh | Selbstfahrende Saugreinigungsvorrichtung |
KR100683074B1 (ko) | 2005-12-22 | 2007-02-15 | (주)경민메카트로닉스 | 로봇청소기 |
TWM294301U (en) | 2005-12-27 | 2006-07-21 | Supply Internat Co Ltd E | Self-propelled vacuum cleaner with dust collecting structure |
KR100761997B1 (ko) | 2005-12-29 | 2007-09-28 | 에이스로봇 주식회사 | 청소로봇용 휠 어셈블리 |
WO2008013568A2 (en) | 2005-12-30 | 2008-01-31 | Irobot Corporation | Autonomous mobile robot |
KR20070074147A (ko) | 2006-01-06 | 2007-07-12 | 삼성전자주식회사 | 청소기 시스템 |
KR20070074146A (ko) | 2006-01-06 | 2007-07-12 | 삼성전자주식회사 | 청소기 시스템 |
JP5132108B2 (ja) | 2006-02-02 | 2013-01-30 | 株式会社Sokudo | 基板処理装置 |
JP2007213236A (ja) | 2006-02-08 | 2007-08-23 | Sharp Corp | 自律走行ロボットの経路計画方法及び自律走行ロボット |
WO2007093926A1 (en) | 2006-02-13 | 2007-08-23 | Koninklijke Philips Electronics N.V. | Robotic vacuum cleaning |
JP2007226322A (ja) | 2006-02-21 | 2007-09-06 | Sharp Corp | ロボットコントロールシステム |
KR100704487B1 (ko) | 2006-03-15 | 2007-04-09 | 엘지전자 주식회사 | 이동로봇의 흡입헤드 |
EP2013671B1 (en) | 2006-03-17 | 2018-04-25 | iRobot Corporation | Lawn care robot |
JP2007272665A (ja) | 2006-03-31 | 2007-10-18 | Matsushita Electric Ind Co Ltd | 自走式掃除機およびそのプログラム |
EP2027806A1 (en) | 2006-04-04 | 2009-02-25 | Samsung Electronics Co., Ltd. | Robot cleaner system having robot cleaner and docking station |
KR20070104989A (ko) | 2006-04-24 | 2007-10-30 | 삼성전자주식회사 | 로봇청소기 시스템 및 그 먼지제거 방법 |
US8108092B2 (en) | 2006-07-14 | 2012-01-31 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
WO2008060690A2 (en) | 2006-05-12 | 2008-05-22 | Irobot Corporation | Method and device for controlling a remote vehicle |
US8326469B2 (en) | 2006-07-14 | 2012-12-04 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
KR100735565B1 (ko) | 2006-05-17 | 2007-07-04 | 삼성전자주식회사 | 구조광을 이용한 물체 검출 방법 및 이를 이용한 로봇 |
US20090044370A1 (en) | 2006-05-19 | 2009-02-19 | Irobot Corporation | Removing debris from cleaning robots |
KR101245832B1 (ko) | 2006-05-23 | 2013-03-21 | 삼성전자주식회사 | 장애물을 감지하는 장치 및 방법 |
TWI293555B (en) | 2006-05-23 | 2008-02-21 | Ind Tech Res Inst | Omni-directional robot cleaner |
JP2007316966A (ja) | 2006-05-26 | 2007-12-06 | Fujitsu Ltd | 移動ロボット、その制御方法及びプログラム |
US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
US7604675B2 (en) | 2006-06-16 | 2009-10-20 | Royal Appliance Mfg. Co. | Separately opening dust containers |
US7974738B2 (en) | 2006-07-05 | 2011-07-05 | Battelle Energy Alliance, Llc | Robotics virtual rail system and method |
KR100791384B1 (ko) | 2006-07-05 | 2008-01-07 | 삼성전자주식회사 | 특징점을 이용한 영역 구분 방법 및 장치와 이를 이용한이동 청소 로봇 |
US8843244B2 (en) | 2006-10-06 | 2014-09-23 | Irobot Corporation | Autonomous behaviors for a remove vehicle |
US7979945B2 (en) | 2006-08-15 | 2011-07-19 | Umagination Labs, L.P. | Systems and methods for robotic gutter cleaning |
US7886399B2 (en) | 2006-08-15 | 2011-02-15 | Umagination Labs, L.P. | Systems and methods for robotic gutter cleaning along an axis of rotation |
US20080105445A1 (en) | 2006-08-15 | 2008-05-08 | Dayton Douglas C | Modular landscaper |
US8996172B2 (en) | 2006-09-01 | 2015-03-31 | Neato Robotics, Inc. | Distance sensor system and method |
DE602007007026D1 (de) | 2006-09-05 | 2010-07-22 | Lg Electronics Inc | Reinigungsroboter |
TWI312279B (en) | 2006-09-19 | 2009-07-21 | Ind Tech Res Inst | Robotic vacuum cleaner |
KR100755611B1 (ko) | 2006-09-22 | 2007-09-06 | 삼성전기주식회사 | 기울어짐 감지형 자동 운전 청소기 및 그 동작 제어 방법 |
US8046103B2 (en) | 2006-09-29 | 2011-10-25 | F Robotics Acquisitions Ltd. | System and method for determining the location of a machine |
US7600593B2 (en) | 2007-01-05 | 2009-10-13 | Irobot Corporation | Robotic vehicle with dynamic range actuators |
US7891446B2 (en) | 2006-10-06 | 2011-02-22 | Irobot Corporation | Robotic vehicle deck adjustment |
US8413752B2 (en) | 2006-10-06 | 2013-04-09 | Irobot Corporation | Robotic vehicle |
US8644991B2 (en) | 2006-10-06 | 2014-02-04 | Irobot Corporation | Maneuvering robotic vehicles |
US7654348B2 (en) | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
US7843431B2 (en) | 2007-04-24 | 2010-11-30 | Irobot Corporation | Control system for a remote vehicle |
AU2007347733B2 (en) | 2006-10-06 | 2012-05-03 | Irobot Corporation | Robotic vehicle |
US7784570B2 (en) | 2006-10-06 | 2010-08-31 | Irobot Corporation | Robotic vehicle |
US20120183382A1 (en) | 2006-10-06 | 2012-07-19 | Irobot Corporation | Robotic Vehicle |
US20120137464A1 (en) | 2006-10-11 | 2012-06-07 | David K. Thatcher, Owner | Mopping Machine |
US8671513B2 (en) | 2006-10-11 | 2014-03-18 | Samsung Electronics Co., Ltd. | Nozzle assembly having subsidiary brush unit |
KR100818740B1 (ko) | 2006-10-13 | 2008-04-01 | 엘지전자 주식회사 | 로봇청소기 및 그에 따른 제어방법 |
JP5148619B2 (ja) | 2006-10-18 | 2013-02-20 | ユタカ・ジェイ・カナヤマ | 移動ロボットによる地図作成方法 |
USD556961S1 (en) | 2006-10-31 | 2007-12-04 | Irobot Corporation | Robot |
US20100286791A1 (en) | 2006-11-21 | 2010-11-11 | Goldsmith David S | Integrated system for the ballistic and nonballistic infixion and retrieval of implants |
KR100759919B1 (ko) | 2006-11-28 | 2007-09-18 | 삼성광주전자 주식회사 | 로봇청소기 및 그 제어방법 |
JP2008132299A (ja) | 2006-11-28 | 2008-06-12 | Samsung Kwangju Electronics Co Ltd | 掃除機 |
US8095238B2 (en) | 2006-11-29 | 2012-01-10 | Irobot Corporation | Robot development platform |
US8010229B2 (en) | 2006-12-05 | 2011-08-30 | Electronics And Telecommunications Research Institute | Method and apparatus for returning cleaning robot to charge station |
KR100815570B1 (ko) | 2006-12-06 | 2008-03-20 | 삼성광주전자 주식회사 | 로봇청소기시스템 및 그 제어방법 |
KR101211498B1 (ko) | 2006-12-18 | 2012-12-12 | 삼성전자주식회사 | 청소로봇 |
RU2436491C2 (ru) | 2006-12-21 | 2011-12-20 | Конинклейке Филипс Электроникс Н.В. | Чистящая насадка и способ чистки пылесосом |
US7753616B2 (en) | 2006-12-21 | 2010-07-13 | Greer Robert F | System, method and composition for adhering preformed thermoplastic traffic control signage to pavement |
CN101588745B (zh) | 2007-01-22 | 2012-01-04 | 皇家飞利浦电子股份有限公司 | 机器人清洁头 |
KR101204440B1 (ko) | 2007-02-26 | 2012-11-26 | 삼성전자주식회사 | 로봇청소기와 도킹스테이션을 구비한 로봇청소기 시스템 |
US8200600B2 (en) | 2007-03-20 | 2012-06-12 | Irobot Corporation | Electronic system condition monitoring and prognostics |
US8265793B2 (en) | 2007-03-20 | 2012-09-11 | Irobot Corporation | Mobile robot for telecommunication |
EP1980188B1 (en) | 2007-03-27 | 2012-11-14 | Samsung Electronics Co., Ltd. | Robot cleaner with improved dust collector |
EP2140316B1 (en) | 2007-03-29 | 2011-12-28 | iRobot Corporation | Robot operator control unit configuration system and method |
US7878105B2 (en) | 2007-04-02 | 2011-02-01 | Grinnell More | Mitigating recoil in a ballistic robot |
US20090180668A1 (en) | 2007-04-11 | 2009-07-16 | Irobot Corporation | System and method for cooperative remote vehicle behavior |
US8196251B2 (en) | 2007-04-26 | 2012-06-12 | Irobot Corporation | Gutter cleaning robot |
KR101160393B1 (ko) | 2007-05-09 | 2012-06-26 | 아이로보트 코퍼레이션 | 소형 자율 커버리지 로봇 |
US8255092B2 (en) | 2007-05-14 | 2012-08-28 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
JP4811347B2 (ja) | 2007-05-24 | 2011-11-09 | 富士通株式会社 | 校正ロボットシステム及び距離センサの校正方法 |
US8874261B2 (en) | 2007-07-25 | 2014-10-28 | Deere & Company | Method and system for controlling a mobile robot |
JP5039468B2 (ja) | 2007-07-26 | 2012-10-03 | 株式会社Sokudo | 基板洗浄装置およびそれを備えた基板処理装置 |
KR20090028359A (ko) | 2007-09-14 | 2009-03-18 | 삼성광주전자 주식회사 | 이동체의 휠구동장치 |
JP2009071235A (ja) | 2007-09-18 | 2009-04-02 | Sokudo:Kk | 基板処理装置 |
US7997118B2 (en) | 2007-09-26 | 2011-08-16 | Dow Global Technologies Llc | Scrub testing devices and methods |
KR101330735B1 (ko) | 2007-10-17 | 2013-11-20 | 삼성전자주식회사 | 로봇청소기 |
US8798792B2 (en) | 2007-10-30 | 2014-08-05 | Lg Electronics Inc. | Detecting apparatus of robot cleaner and controlling method of robot cleaner |
KR101461185B1 (ko) | 2007-11-09 | 2014-11-14 | 삼성전자 주식회사 | 스트럭쳐드 라이트를 이용한 3차원 맵 생성 장치 및 방법 |
US20120312221A1 (en) | 2007-12-07 | 2012-12-13 | iRobot Corpoartion | Submersible vehicles and methods for propelling and/or powering the same in an underwater environment |
US8166904B2 (en) | 2007-12-12 | 2012-05-01 | Irobot Corporation | Delivery systems for pressure protecting and delivering a submerged payload and methods for using the same |
US7942107B2 (en) | 2007-12-12 | 2011-05-17 | Irobot Corporation | Delivery systems for pressure protecting and delivering a submerged payload and methods for using the same |
US8336479B2 (en) | 2008-01-22 | 2012-12-25 | Irobot Corporation | Systems and methods of use for submerged deployment of objects |
US8755936B2 (en) | 2008-01-28 | 2014-06-17 | Seegrid Corporation | Distributed multi-robot system |
CN101970187A (zh) | 2008-01-28 | 2011-02-09 | 塞格瑞德公司 | 用于对服务机器人所收集的时空信息进行再利用的方法 |
JP2009193240A (ja) | 2008-02-13 | 2009-08-27 | Toyota Motor Corp | 移動ロボット及び環境地図の生成方法 |
JP4999734B2 (ja) | 2008-03-07 | 2012-08-15 | 株式会社日立製作所 | 環境地図生成装置、方法及びプログラム |
US8244469B2 (en) | 2008-03-16 | 2012-08-14 | Irobot Corporation | Collaborative engagement for target identification and tracking |
US8534983B2 (en) | 2008-03-17 | 2013-09-17 | Irobot Corporation | Door breaching robotic manipulator |
US8127704B2 (en) | 2008-03-26 | 2012-03-06 | Irobot Corporation | Submersible vehicles and methods for transiting the same in a body of liquid |
CA2719494C (en) | 2008-04-02 | 2015-12-01 | Irobot Corporation | Robotics systems |
US8961695B2 (en) | 2008-04-24 | 2015-02-24 | Irobot Corporation | Mobile robot for cleaning |
CN104248395B (zh) * | 2008-04-24 | 2018-06-22 | 艾罗伯特公司 | 用于机器人使能的移动产品的定位、位置控制和导航系统的应用 |
KR20110018323A (ko) | 2008-04-25 | 2011-02-23 | 어플라이드 머티어리얼스, 인코포레이티드 | 높은 처리량 화학 기계 연마 시스템 |
US8447613B2 (en) | 2008-04-28 | 2013-05-21 | Irobot Corporation | Robot and server with optimized message decoding |
USD586959S1 (en) | 2008-05-09 | 2009-02-17 | Irobot Corporation | Autonomous coverage robot |
US8418642B2 (en) | 2008-05-09 | 2013-04-16 | Irobot Corporation | Unmanned submersible vehicles and methods for operating the same in a body of liquid |
CN101587447B (zh) | 2008-05-23 | 2013-03-27 | 国际商业机器公司 | 基于预测的事务执行系统和方法 |
US8001651B2 (en) | 2008-06-19 | 2011-08-23 | National Taipei University Of Technology | Floor washing robot |
US8408956B1 (en) | 2008-07-08 | 2013-04-02 | Irobot Corporation | Payload delivery units for pressure protecting and delivering a submerged payload and methods for using the same |
JP5141507B2 (ja) | 2008-08-25 | 2013-02-13 | 村田機械株式会社 | 自律移動装置 |
US8237389B2 (en) | 2008-11-12 | 2012-08-07 | Irobot Corporation | Multi mode safety control module |
FR2938578B1 (fr) | 2008-11-14 | 2016-02-26 | Pmps Tech | Robot motorise nettoyeur de piscine ou analogue en fonctionnement immerge dans un fluide |
US20100125968A1 (en) | 2008-11-26 | 2010-05-27 | Howard Ho | Automated apparatus and equipped trashcan |
USD593265S1 (en) | 2008-12-02 | 2009-05-26 | Bissell Homecare, Inc. | Robotic vacuum cleaner |
US7926598B2 (en) | 2008-12-09 | 2011-04-19 | Irobot Corporation | Mobile robotic vehicle |
KR20100066622A (ko) | 2008-12-10 | 2010-06-18 | 삼성전자주식회사 | 바퀴조립체 및 이를 가지는 로봇 청소기 |
KR101572851B1 (ko) | 2008-12-22 | 2015-11-30 | 삼성전자 주식회사 | 동적 환경에서 모바일 플랫폼의 지도 작성방법 |
DE202008017137U1 (de) | 2008-12-31 | 2009-03-19 | National Kaohsiung First University Of Science And Technology | Fahrbares Reinigungsgerät |
US8417188B1 (en) | 2009-02-03 | 2013-04-09 | Irobot Corporation | Systems and methods for inspection and communication in liquid petroleum product |
US20100206336A1 (en) | 2009-02-18 | 2010-08-19 | Sami Souid | Extendable vacuum cleaner |
US8727410B2 (en) | 2009-02-24 | 2014-05-20 | Irobot Corporation | Method and device for manipulating an object |
US20100292884A1 (en) | 2009-05-12 | 2010-11-18 | Rogelio Manfred Neumann | Device for Influencing Navigation of an Autonomous Vehicle |
KR101484940B1 (ko) | 2009-05-14 | 2015-01-22 | 삼성전자 주식회사 | 로봇청소기 및 그 제어방법 |
GB0909148D0 (en) | 2009-05-28 | 2009-07-01 | F Robotics Acquisitions Ltd | Localisation system |
KR20100132891A (ko) | 2009-06-10 | 2010-12-20 | 삼성광주전자 주식회사 | 청소장치 및 이를 이용한 먼지 포집 방법 |
US8774970B2 (en) | 2009-06-11 | 2014-07-08 | S.C. Johnson & Son, Inc. | Trainable multi-mode floor cleaning device |
EP2260750A3 (en) | 2009-06-12 | 2014-04-23 | Samsung Electronics Co., Ltd. | Robot cleaner and method of controlling traveling thereof |
US8318499B2 (en) | 2009-06-17 | 2012-11-27 | Abbott Laboratories | System for managing inventories of reagents |
US8706297B2 (en) | 2009-06-18 | 2014-04-22 | Michael Todd Letsky | Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same |
US8438694B2 (en) | 2009-06-19 | 2013-05-14 | Samsung Electronics Co., Ltd. | Cleaning apparatus |
EP2417892B1 (en) | 2009-06-30 | 2016-06-08 | LG Electronics Inc. | Robot cleaner |
KR101352272B1 (ko) | 2009-07-06 | 2014-01-17 | 엘지전자 주식회사 | 로봇 청소기 |
US8364309B1 (en) | 2009-07-14 | 2013-01-29 | Bailey Bendrix L | User-assisted robot navigation system |
JP5512225B2 (ja) | 2009-07-31 | 2014-06-04 | Cyberdyne株式会社 | サイドブラシ装置を備えた自走式清掃ロボット |
US8527113B2 (en) | 2009-08-07 | 2013-09-03 | Irobot Corporation | Remote vehicle |
KR101131644B1 (ko) * | 2009-08-17 | 2012-04-12 | 고려대학교 산학협력단 | 청소 로봇 장치 및 이의 제어 방법 |
TWI419671B (zh) | 2009-08-25 | 2013-12-21 | Ind Tech Res Inst | 具有掃地與吸塵功能的清潔裝置 |
US8548626B2 (en) | 2009-09-03 | 2013-10-01 | Irobot Corporation | Method and device for manipulating an object |
US7934571B2 (en) | 2009-09-04 | 2011-05-03 | Jane-Ferng Chiu | Moving base for robotic vacuum cleaner |
JP5290425B2 (ja) | 2009-09-29 | 2013-09-18 | シャープ株式会社 | 周辺機器制御システム、表示装置、及び周辺機器 |
US20110082668A1 (en) | 2009-10-06 | 2011-04-07 | Escrig M Teresa | Systems and methods for establishing an environmental representation |
EP2316322A3 (en) | 2009-11-02 | 2011-06-29 | LG Electronics Inc. | Robot cleaner |
CN104127156B (zh) | 2010-02-16 | 2017-01-11 | 艾罗伯特公司 | 真空吸尘器毛刷 |
DE102010000573B4 (de) | 2010-02-26 | 2022-06-23 | Vorwerk & Co. Interholding Gmbh | Verfahren zur Leistungssteuerung eines Saug-/Kehrgeräts |
US20130239870A1 (en) | 2010-03-01 | 2013-09-19 | Irobot Corporation | Underwater Vehicle Bouyancy System |
KR20110119118A (ko) | 2010-04-26 | 2011-11-02 | 엘지전자 주식회사 | 로봇 청소기, 및 이를 이용한 원격 감시 시스템 |
US9104202B2 (en) | 2010-05-11 | 2015-08-11 | Irobot Corporation | Remote vehicle missions and systems for supporting remote vehicle missions |
US8935005B2 (en) | 2010-05-20 | 2015-01-13 | Irobot Corporation | Operating a mobile robot |
US8918213B2 (en) | 2010-05-20 | 2014-12-23 | Irobot Corporation | Mobile human interface robot |
PL2388561T3 (pl) | 2010-05-20 | 2016-05-31 | Mettler Toledo Gmbh | Urządzenie laboratoryjne do przygotowywania próbek |
US9014848B2 (en) | 2010-05-20 | 2015-04-21 | Irobot Corporation | Mobile robot system |
US9400503B2 (en) | 2010-05-20 | 2016-07-26 | Irobot Corporation | Mobile human interface robot |
JP5510081B2 (ja) | 2010-06-02 | 2014-06-04 | 日本精工株式会社 | 障害物回避支援装置、障害物回避支援方法及び移動体 |
JP5634764B2 (ja) * | 2010-06-23 | 2014-12-03 | コグネックス・コーポレイション | 移動体制御システム、プログラム、及び移動体制御方法 |
KR101483541B1 (ko) | 2010-07-15 | 2015-01-19 | 삼성전자주식회사 | 로봇청소기, 메인터넌스 스테이션 그리고 이들을 가지는 청소시스템 |
JP5540959B2 (ja) | 2010-07-15 | 2014-07-02 | 横河電機株式会社 | 波形測定装置 |
KR101484942B1 (ko) | 2010-08-26 | 2015-01-22 | 삼성전자 주식회사 | 청소기 및 그 제어방법 |
DE102010037672B4 (de) | 2010-09-21 | 2023-03-23 | Vorwerk & Co. Interholding Gmbh | Rotierbare Kehrbürste sowie selbsttätig verfahrbares Bodengerät mit einer derartigen Kehrbürste |
KR20120035519A (ko) | 2010-10-05 | 2012-04-16 | 삼성전자주식회사 | 먼지 유입 감지 유닛 및 이를 구비하는 로봇 청소기 |
CN201840418U (zh) | 2010-10-11 | 2011-05-25 | 洋通工业股份有限公司 | 自走吸尘器的可拆式滚刷装置 |
CN201840416U (zh) | 2010-10-11 | 2011-05-25 | 洋通工业股份有限公司 | 自走吸尘器的集尘装置 |
KR101573742B1 (ko) | 2010-10-25 | 2015-12-07 | 삼성전자주식회사 | 로봇청소기 |
KR20120044768A (ko) | 2010-10-28 | 2012-05-08 | 엘지전자 주식회사 | 로봇 청소기 및 이의 제어 방법 |
KR101496913B1 (ko) | 2010-11-03 | 2015-03-02 | 삼성전자 주식회사 | 로봇청소기와 자동배출 스테이션 및 이를 가지는 로봇청소기 시스템 |
TWI435702B (zh) | 2010-11-09 | 2014-05-01 | Ind Tech Res Inst | 自捲式靜電除塵裝置 |
US8543562B2 (en) | 2010-11-18 | 2013-09-24 | Sling Media Pvt Ltd | Automated searching for solutions to support self-diagnostic operations of web-enabled devices |
KR101752190B1 (ko) | 2010-11-24 | 2017-06-30 | 삼성전자주식회사 | 로봇청소기 및 그 제어방법 |
US9146558B2 (en) | 2010-11-30 | 2015-09-29 | Irobot Corporation | Mobile robot and method of operating thereof |
EP2460624A1 (de) | 2010-12-06 | 2012-06-06 | Jöst GmbH | Schleifvorrichtung zum maschinellen Schleifen von Rotorblättern für Windkraftanlagen |
US9020636B2 (en) | 2010-12-16 | 2015-04-28 | Saied Tadayon | Robot for solar farms |
US20120152280A1 (en) | 2010-12-18 | 2012-06-21 | Zenith Technologies, Llc | Touch Sensitive Display For Surface Cleaner |
TWM407725U (en) | 2010-12-20 | 2011-07-21 | Micro Star Internat Corp Ltd | Dust collecting container and vacuum cleaner applying the same |
TW201227190A (en) | 2010-12-28 | 2012-07-01 | Hon Hai Prec Ind Co Ltd | System and method for controlling robots via cloud computing |
USD670877S1 (en) | 2010-12-30 | 2012-11-13 | Irobot Corporation | Robot vacuum cleaner |
USD672928S1 (en) | 2010-12-30 | 2012-12-18 | Irobot Corporation | Air filter for a robotic vacuum |
USD659311S1 (en) | 2010-12-30 | 2012-05-08 | Irobot Corporation | Robot vacuum cleaner |
WO2012099694A1 (en) | 2010-12-30 | 2012-07-26 | Irobot Corporation | Coverage robot navigation |
US8930019B2 (en) | 2010-12-30 | 2015-01-06 | Irobot Corporation | Mobile human interface robot |
US8741013B2 (en) | 2010-12-30 | 2014-06-03 | Irobot Corporation | Dust bin for a robotic vacuum |
EP3026423A3 (en) | 2010-12-30 | 2016-08-31 | iRobot Corporation | Debris monitoring in a dust bin |
US20120167917A1 (en) | 2011-01-03 | 2012-07-05 | Gilbert Jr Duane L | Autonomous coverage robot |
US8878734B2 (en) | 2011-01-13 | 2014-11-04 | Irobot Corporation | Antenna support structures |
KR101523980B1 (ko) | 2011-01-18 | 2015-06-01 | 삼성전자 주식회사 | 로봇 청소기 |
US9346499B2 (en) | 2011-01-27 | 2016-05-24 | Irobot Corporation | Resilient wheel assemblies |
KR20140040094A (ko) | 2011-01-28 | 2014-04-02 | 인터치 테크놀로지스 인코퍼레이티드 | 이동형 원격현전 로봇과의 인터페이싱 |
JP5746378B2 (ja) * | 2011-02-05 | 2015-07-08 | アップル インコーポレイテッド | 移動体ロケーション判定のための方法及び装置 |
EP2494900B1 (en) | 2011-03-04 | 2014-04-09 | Samsung Electronics Co., Ltd. | Debris detecting unit and robot cleaning device having the same |
JP5222971B2 (ja) | 2011-03-31 | 2013-06-26 | 富士ソフト株式会社 | 歩行ロボット装置及びその制御プログラム |
KR101842460B1 (ko) | 2011-04-12 | 2018-03-27 | 엘지전자 주식회사 | 로봇 청소기, 이의 원격 감시 시스템 및 방법 |
US20120260443A1 (en) | 2011-04-13 | 2012-10-18 | Lindgren Peter B | Aquaculture cage screen and cleaning apparatus |
US8881683B2 (en) | 2011-04-13 | 2014-11-11 | Peter B. Lindgren | Fish cage screen and cleaning apparatus |
WO2012142587A1 (en) | 2011-04-15 | 2012-10-18 | Irobot Corporation | Method for path generation for an end effector of a robot |
CN102183959B (zh) | 2011-04-21 | 2013-08-07 | 深圳市银星智能科技股份有限公司 | 移动机器人的自适应路径控制方法 |
US9220386B2 (en) | 2011-04-29 | 2015-12-29 | Irobot Corporation | Robotic vacuum |
US20130015596A1 (en) | 2011-06-23 | 2013-01-17 | Irobot Corporation | Robotic fabricator |
KR101311295B1 (ko) | 2011-07-13 | 2013-09-25 | 주식회사 유진로봇 | 이동 로봇의 휠 조립체 |
US20130032078A1 (en) | 2011-07-15 | 2013-02-07 | Irobot Corporation | Sea Glider |
US8800101B2 (en) | 2011-07-25 | 2014-08-12 | Lg Electronics Inc. | Robot cleaner and self testing method of the same |
US20130145572A1 (en) | 2011-07-27 | 2013-06-13 | Irobot Corporation | Surface Cleaning Robot |
IL214419A0 (en) | 2011-08-02 | 2011-11-30 | Josef Porat | Pool cleaner with brush |
JP5744676B2 (ja) | 2011-08-18 | 2015-07-08 | 株式会社ダスキン | 環境地図を用いた掃除ロボット |
KR101931365B1 (ko) | 2011-08-22 | 2018-12-24 | 삼성전자주식회사 | 로봇청소기 및 그 제어방법 |
US8631541B2 (en) | 2011-08-23 | 2014-01-21 | Bissell Homecare, Inc. | Auxiliary brush for vacuum cleaner |
US20130054129A1 (en) | 2011-08-26 | 2013-02-28 | INRO Technologies Limited | Method and apparatus for using unique landmarks to locate industrial vehicles at start-up |
USD682362S1 (en) | 2011-09-01 | 2013-05-14 | Irobot Corporation | Remote controlled vehicle |
US20130060357A1 (en) | 2011-09-01 | 2013-03-07 | Sony Corporation, A Japanese Corporation | Facilitated use of heterogeneous home-automation edge components via a common application programming interface |
US9037296B2 (en) | 2011-09-07 | 2015-05-19 | Lg Electronics Inc. | Robot cleaner, and system and method for remotely controlling the same |
GB2494446B (en) | 2011-09-09 | 2013-12-18 | Dyson Technology Ltd | Autonomous cleaning appliance |
KR101907161B1 (ko) | 2011-10-06 | 2018-10-15 | 삼성전자주식회사 | 로봇청소기 |
US20130092190A1 (en) | 2011-10-18 | 2013-04-18 | Samsung Electronics Co., Ltd. | Robot cleaner and control method for the same |
US9596971B2 (en) | 2011-10-21 | 2017-03-21 | Samsung Electronics Co., Ltd. | Robot cleaner and control method for the same |
EP2776216B1 (en) * | 2011-11-11 | 2022-08-31 | iRobot Corporation | Robot apparautus and control method for resuming operation following a pause. |
US8903644B2 (en) | 2011-11-29 | 2014-12-02 | Irobot Corporation | Digest for localization or fingerprinted overlay |
KR101857295B1 (ko) | 2011-12-16 | 2018-05-14 | 엘지전자 주식회사 | 이동형 로봇 청소기 |
US9427876B2 (en) | 2011-12-19 | 2016-08-30 | Irobot Corporation | Inflatable robots, robotic components and assemblies and methods including same |
KR101960816B1 (ko) | 2011-12-22 | 2019-03-22 | 삼성전자주식회사 | 로봇청소기 |
WO2013105431A1 (ja) | 2012-01-13 | 2013-07-18 | シャープ株式会社 | 集塵装置 |
JP5968627B2 (ja) | 2012-01-17 | 2016-08-10 | シャープ株式会社 | 掃除機、制御プログラム、および該制御プログラムを記録したコンピュータ読み取り可能な記録媒体 |
KR20130090438A (ko) | 2012-02-04 | 2013-08-14 | 엘지전자 주식회사 | 로봇 청소기 |
EP2624180A1 (en) | 2012-02-06 | 2013-08-07 | Xabier Uribe-Etxebarria Jimenez | System of integrating remote third party services |
KR101984214B1 (ko) * | 2012-02-09 | 2019-05-30 | 삼성전자주식회사 | 로봇 청소기의 청소 작업을 제어하기 위한 장치 및 방법 |
US8958911B2 (en) | 2012-02-29 | 2015-02-17 | Irobot Corporation | Mobile robot |
US9463574B2 (en) | 2012-03-01 | 2016-10-11 | Irobot Corporation | Mobile inspection robot |
CN103284653B (zh) | 2012-03-02 | 2017-07-14 | 恩斯迈电子(深圳)有限公司 | 清洁机器人及其控制方法 |
CN103284662B (zh) | 2012-03-02 | 2016-09-21 | 恩斯迈电子(深圳)有限公司 | 清扫系统及其控制方法 |
CN103284665A (zh) | 2012-03-02 | 2013-09-11 | 恩斯迈电子(深圳)有限公司 | 清洁机器人及其控制方法 |
KR101901930B1 (ko) | 2012-03-04 | 2018-09-27 | 엘지전자 주식회사 | 홈 디바이스의 제어 장치, 제어 방법 및 제어를 위한 타임라인 ui |
KR101932080B1 (ko) | 2012-03-08 | 2018-12-24 | 엘지전자 주식회사 | 아지테이터 및 이를 포함하는 청소기 |
JP5831308B2 (ja) | 2012-03-13 | 2015-12-09 | アイシン・エィ・ダブリュ株式会社 | 移動体位置検出システム、移動体位置検出装置、移動体位置検出方法及びコンピュータプログラム |
US9510292B2 (en) | 2012-03-13 | 2016-11-29 | Qualcomm Incorporated | Limiting wireless discovery range |
US8950792B2 (en) | 2012-03-15 | 2015-02-10 | Irobot Corporation | Compliant solid-state bumper for robot |
US9211648B2 (en) | 2012-04-05 | 2015-12-15 | Irobot Corporation | Operating a mobile robot |
CN103371770B (zh) | 2012-04-12 | 2017-06-23 | 中弘智能高科技(深圳)有限公司 | 自走及手提两用式吸尘器 |
CN103376801B (zh) | 2012-04-13 | 2016-08-03 | 科沃斯机器人有限公司 | 自移动地面处理机器人及其清洁工作的控制方法 |
JP2013220422A (ja) | 2012-04-17 | 2013-10-28 | Tokyo Ohka Kogyo Co Ltd | 塗布装置及び塗布方法 |
JP5937877B2 (ja) | 2012-04-19 | 2016-06-22 | シャープ株式会社 | 自走式掃除機 |
KR101231932B1 (ko) | 2012-04-24 | 2013-03-07 | 주식회사 모뉴엘 | 로봇 청소기 |
US20130338525A1 (en) | 2012-04-24 | 2013-12-19 | Irobot Corporation | Mobile Human Interface Robot |
JP6104519B2 (ja) | 2012-05-07 | 2017-03-29 | シャープ株式会社 | 自走式電子機器 |
JP6071251B2 (ja) | 2012-05-30 | 2017-02-01 | 三菱電機株式会社 | 自走式掃除機 |
KR101949277B1 (ko) | 2012-06-18 | 2019-04-25 | 엘지전자 주식회사 | 이동 로봇 |
KR101984575B1 (ko) | 2012-06-25 | 2019-09-03 | 엘지전자 주식회사 | 로봇 청소기 및 그 제어 방법 |
ES2834108T3 (es) | 2012-07-16 | 2021-06-16 | Code On Network Coding Llc | Codificación de red distribuida determinista |
EP2689701B1 (en) | 2012-07-25 | 2018-12-19 | Samsung Electronics Co., Ltd. | Autonomous cleaning device |
ES2610755T3 (es) * | 2012-08-27 | 2017-05-03 | Aktiebolaget Electrolux | Sistema de posicionamiento de un robot |
US8855914B1 (en) | 2012-08-31 | 2014-10-07 | Neato Robotics, Inc. | Method and apparatus for traversing corners of a floored area with a robotic surface treatment apparatus |
US10216957B2 (en) | 2012-11-26 | 2019-02-26 | Elwha Llc | Methods and systems for managing data and/or services for devices |
US8533144B1 (en) | 2012-11-12 | 2013-09-10 | State Farm Mutual Automobile Insurance Company | Automation and security application store suggestions based on usage data |
EP2741483B1 (de) | 2012-12-05 | 2022-01-26 | Vorwerk & Co. Interholding GmbH | Verfahrbares Reinigungsgerät sowie Verfahren zum Betreiben eines solchen |
KR20140079274A (ko) | 2012-12-18 | 2014-06-26 | 삼성전자주식회사 | 홈 네트워크 시스템에서 에너지 소비를 관리하는 방법 및 장치 |
WO2014098477A1 (ko) | 2012-12-18 | 2014-06-26 | 삼성전자 주식회사 | 홈 네트워크 시스템에서 홈 디바이스를 원격으로 제어하는 방법 및 장치 |
FR2999410B1 (fr) | 2012-12-19 | 2015-11-06 | Seb Sa | Trappe pour suceur d'aspirateur |
US9178370B2 (en) * | 2012-12-28 | 2015-11-03 | Irobot Corporation | Coverage robot docking station |
US9375847B2 (en) | 2013-01-18 | 2016-06-28 | Irobot Corporation | Environmental management systems including mobile robots and methods using same |
US9233472B2 (en) | 2013-01-18 | 2016-01-12 | Irobot Corporation | Mobile robot providing environmental mapping for household environmental control |
WO2014113091A1 (en) | 2013-01-18 | 2014-07-24 | Irobot Corporation | Environmental management systems including mobile robots and methods using same |
KR20140108821A (ko) | 2013-02-28 | 2014-09-15 | 삼성전자주식회사 | 이동 로봇 및 이동 로봇의 위치 추정 및 맵핑 방법 |
US9326654B2 (en) | 2013-03-15 | 2016-05-03 | Irobot Corporation | Roller brush for surface cleaning robots |
KR102020215B1 (ko) | 2013-03-23 | 2019-09-10 | 삼성전자주식회사 | 로봇 청소기 및 로봇 청소기의 제어방법 |
US9037396B2 (en) | 2013-05-23 | 2015-05-19 | Irobot Corporation | Simultaneous localization and mapping for a mobile robot |
US20150005937A1 (en) | 2013-06-27 | 2015-01-01 | Brain Corporation | Action selection apparatus and methods |
KR102083188B1 (ko) | 2013-07-29 | 2020-03-02 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
KR102094347B1 (ko) | 2013-07-29 | 2020-03-30 | 삼성전자주식회사 | 자동 청소 시스템, 청소 로봇 및 그 제어 방법 |
JP6178677B2 (ja) | 2013-09-09 | 2017-08-09 | シャープ株式会社 | 自走式電子機器 |
KR102152641B1 (ko) * | 2013-10-31 | 2020-09-08 | 엘지전자 주식회사 | 이동 로봇 |
EP2884364B1 (en) | 2013-12-12 | 2018-09-26 | Hexagon Technology Center GmbH | Autonomous gardening vehicle with camera |
KR102116596B1 (ko) | 2013-12-19 | 2020-05-28 | 에이비 엘렉트로룩스 | 나선형 패턴으로 이동하는 사이드 브러시를 구비한 로봇 진공 청소기 |
EP3084540B1 (en) * | 2013-12-19 | 2021-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and operating method |
ES2656664T3 (es) * | 2013-12-19 | 2018-02-28 | Aktiebolaget Electrolux | Dispositivo robótico de limpieza con función de registro del perímetro |
EP3087888B1 (en) | 2013-12-23 | 2019-08-14 | LG Electronics Inc. | Robot cleaner |
WO2015105712A1 (en) | 2014-01-10 | 2015-07-16 | Irobot Corporation | Autonomous mobile robot |
US9305219B2 (en) | 2014-01-23 | 2016-04-05 | Mitsubishi Electric Research Laboratories, Inc. | Method for estimating free space using a camera system |
DE102014110875A1 (de) | 2014-07-10 | 2016-01-28 | Vorwerk & Co. Interholding Gmbh | Verfahrteil, insbesondere selbsttätig verfahrbares Bodenreinigungsgerät |
EP3190939B1 (en) | 2014-09-08 | 2021-07-21 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
KR102271782B1 (ko) | 2014-09-08 | 2021-06-30 | 에이비 엘렉트로룩스 | 로봇 진공 청소기 |
EP3234713B1 (en) * | 2014-12-16 | 2022-06-15 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
DE202017000833U1 (de) | 2016-02-22 | 2017-03-08 | Lg Electronics Inc. | Beweglicher Roboter |
WO2018074848A1 (en) | 2016-10-19 | 2018-04-26 | Samsung Electronics Co., Ltd. | Robot vacuum cleaner |
-
2014
- 2014-12-16 EP EP14816216.7A patent/EP3234713B1/en active Active
- 2014-12-16 KR KR1020177014792A patent/KR102326401B1/ko active IP Right Grant
- 2014-12-16 WO PCT/EP2014/077954 patent/WO2016095966A1/en active Application Filing
- 2014-12-16 US US15/535,506 patent/US10678251B2/en active Active
- 2014-12-16 CN CN201480084067.6A patent/CN106998984B/zh active Active
- 2014-12-16 JP JP2017522384A patent/JP6532530B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6605156B1 (en) * | 1999-07-23 | 2003-08-12 | Dyson Limited | Robotic floor cleaning device |
CN102150030A (zh) * | 2008-09-12 | 2011-08-10 | Mts系统公司 | 在风洞中使用的自动驾驶系统 |
DE102010000174A1 (de) * | 2010-01-22 | 2011-07-28 | Vorwerk & Co. Interholding GmbH, 42275 | Verfahren zur Reinigung eines Raumes mittels eines selbsttätig verfahrbaren Reinigungsgerätes |
Also Published As
Publication number | Publication date |
---|---|
JP6532530B2 (ja) | 2019-06-19 |
EP3234713A1 (en) | 2017-10-25 |
CN106998984A (zh) | 2017-08-01 |
US20170344013A1 (en) | 2017-11-30 |
JP2018500633A (ja) | 2018-01-11 |
US10678251B2 (en) | 2020-06-09 |
EP3234713B1 (en) | 2022-06-15 |
KR102326401B1 (ko) | 2021-11-16 |
KR20170094171A (ko) | 2017-08-17 |
WO2016095966A1 (en) | 2016-06-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106998984B (zh) | 用于机器人清洁设备的清洁方法 | |
CN105793790B (zh) | 优先化清洁区域 | |
KR102099495B1 (ko) | 로봇 청소 장치가 장애물에 올라가는 것의 감지 | |
EP3230814B1 (en) | Using laser sensor for floor type detection | |
CN107003669B (zh) | 用于机器人清洁设备的基于经验的路标 | |
US20190246852A1 (en) | Robotic cleaning device and a method of controlling movement of the robotic cleaning device | |
JP7424570B2 (ja) | ロボット掃除デバイスによる物体の移動 | |
WO2017108077A1 (en) | Controlling movement of a robotic cleaning device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |