CN110870720B - 自主移动机器人的导航 - Google Patents

自主移动机器人的导航 Download PDF

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Publication number
CN110870720B
CN110870720B CN201910807334.2A CN201910807334A CN110870720B CN 110870720 B CN110870720 B CN 110870720B CN 201910807334 A CN201910807334 A CN 201910807334A CN 110870720 B CN110870720 B CN 110870720B
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CN
China
Prior art keywords
cleaning robot
obstacle
robot
obstacle surface
drive system
Prior art date
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Active
Application number
CN201910807334.2A
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English (en)
Chinese (zh)
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CN110870720A (zh
Inventor
A·格里琴科
E·斯科姆博
J·R·萨尔瓦蒂
J·王
J·J·道里奇
S·科德尔
T·S·加纳卡帕利
Z·普希亚拉基斯
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iRobot Corp
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iRobot Corp
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Publication date
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Publication of CN110870720A publication Critical patent/CN110870720A/zh
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    • 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
    • A47L9/009—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
    • 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
    • A47L11/40—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
    • 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
    • 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
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
CN201910807334.2A 2018-09-04 2019-08-29 自主移动机器人的导航 Active CN110870720B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/120,993 2018-09-04
US16/120,993 US11464375B2 (en) 2018-09-04 2018-09-04 Navigation of autonomous mobile robots

Publications (2)

Publication Number Publication Date
CN110870720A CN110870720A (zh) 2020-03-10
CN110870720B true CN110870720B (zh) 2023-02-17

Family

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CN201910807334.2A Active CN110870720B (zh) 2018-09-04 2019-08-29 自主移动机器人的导航

Country Status (4)

Country Link
US (2) US11464375B2 (https=)
EP (2) EP3942987B1 (https=)
JP (2) JP7206171B2 (https=)
CN (1) CN110870720B (https=)

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US11464375B2 (en) * 2018-09-04 2022-10-11 Irobot Corporation Navigation of autonomous mobile robots
KR102556375B1 (ko) * 2018-11-09 2023-07-18 광둥 미디어 화이트 홈 어플라이언스 테크놀로지 이노베이션 센터 컴퍼니 리미티드 청소 로봇
USD938115S1 (en) 2018-11-30 2021-12-07 Irobot Corporation Autonomous floor cleaning robot
CN111358378B (zh) * 2020-04-29 2024-07-09 美智纵横科技有限责任公司 扫地机器人
CN112327847A (zh) * 2020-11-04 2021-02-05 北京石头世纪科技股份有限公司 一种绕行物体的方法、装置、介质和电子设备
CN118898739A (zh) * 2020-11-06 2024-11-05 北京石头创新科技有限公司 一种识别障碍物的方法、装置、介质和电子设备
JP7512213B2 (ja) * 2021-01-05 2024-07-08 株式会社東芝 移動制御システムおよび移動制御方法
GB2605751B (en) * 2021-01-22 2023-06-28 Dyson Technology Ltd Autonomous surface treatment apparatus
DE102021201068A1 (de) * 2021-02-05 2022-08-11 Robert Bosch Gesellschaft mit beschränkter Haftung Autonomes mobiles Gerät und Verfahren zu einem Betrieb eines autonomen mobilen Geräts
CN115919212A (zh) * 2021-02-10 2023-04-07 北京石头创新科技有限公司 清洁机器人脱困方法及清洁机器人
EP4068038B1 (en) * 2021-03-31 2024-05-01 Mobile Industrial Robots A/S Referencing safety zones to other equipment
US11940800B2 (en) * 2021-04-23 2024-03-26 Irobot Corporation Navigational control of autonomous cleaning robots
CN114237220A (zh) * 2021-11-15 2022-03-25 云鲸智能科技（东莞）有限公司 机器人及其控制方法、装置、存储介质
CN114617484A (zh) * 2021-11-30 2022-06-14 追觅创新科技(苏州)有限公司 清洁设备的清洁方法、清洁设备及存储介质
CN114617477B (zh) * 2022-02-15 2023-08-18 深圳乐动机器人股份有限公司 清洁机器人的清洁控制方法及装置
JP7808500B2 (ja) * 2022-03-28 2026-01-29 株式会社オカムラ 自律掃除ロボット
CN114983293B (zh) * 2022-06-30 2024-07-26 深圳银星智能集团股份有限公司 一种自移动机器人
US20240008704A1 (en) * 2022-07-07 2024-01-11 Irobot Corporation Mobile cleaning robot with variable cleaning features
CN116439606A (zh) * 2023-03-15 2023-07-18 北京石头创新科技有限公司 自动清洁设备的控制方法、装置、清洁设备和存储介质
SE546915C2 (en) * 2023-06-08 2025-03-11 Husqvarna Ab Improved navigation for a robotic work tool system
DE102023205527B3 (de) * 2023-06-14 2024-09-05 BSH Hausgeräte GmbH Verfahren zum Steuern eines mobilen, selbstfahrenden Geräts
US20250031933A1 (en) * 2023-07-25 2025-01-30 The Procter & Gamble Company Systems and methods for cleaning robots
US20250325159A1 (en) * 2024-04-19 2025-10-23 The Procter & Gamble Company Systems and methods for robotic alley area cleaning

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Also Published As

Publication number Publication date
JP2020038665A (ja) 2020-03-12
EP3620095A1 (en) 2020-03-11
EP3620095B1 (en) 2021-06-23
EP3942987A1 (en) 2022-01-26
US20200069125A1 (en) 2020-03-05
CN110870720A (zh) 2020-03-10
US11464375B2 (en) 2022-10-11
JP7487283B2 (ja) 2024-05-20
JP7206171B2 (ja) 2023-01-17
US20230052571A1 (en) 2023-02-16
US11607094B2 (en) 2023-03-21
EP3942987B1 (en) 2023-04-05
JP2023041674A (ja) 2023-03-24

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