DE102007015552B3 - Self-propelled automotive robot for e.g. treatment of floor space, has lenses and mirrors spaced apart from each other in horizontal direction to guide environment image to image halves of camera module - Google Patents
Self-propelled automotive robot for e.g. treatment of floor space, has lenses and mirrors spaced apart from each other in horizontal direction to guide environment image to image halves of camera module Download PDFInfo
- Publication number
- DE102007015552B3 DE102007015552B3 DE200710015552 DE102007015552A DE102007015552B3 DE 102007015552 B3 DE102007015552 B3 DE 102007015552B3 DE 200710015552 DE200710015552 DE 200710015552 DE 102007015552 A DE102007015552 A DE 102007015552A DE 102007015552 B3 DE102007015552 B3 DE 102007015552B3
- Authority
- DE
- Germany
- Prior art keywords
- image
- self
- camera module
- halves
- robot
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000007334 memory performance Effects 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
Classifications
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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
- A47L9/009—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
- A47L9/28—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
- A47L9/2836—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- 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
Abstract
Description
Die Erfindung betrifft einen selbstfahrenden Roboter zur Behandlung von Bodenflächen mit einer Einrichtung zur Erfassung und Auswertung eines dreidimensionalen Bildes der Fahrumgebung. Die Erfindung betrifft außerdem ein Verfahren zur Erfassung und Auswertung eines dreidimensionalen Bildes der Fahrumgebung eines selbstfahrenden Roboters.The The invention relates to a self-propelled robot for treatment of floor surfaces with a device for detecting and evaluating a three-dimensional Picture of the driving environment. The invention also relates to a Method for recording and evaluating a three-dimensional image the driving environment of a self-propelled robot.
Die Verwendung von selbstfahrenden Robotern zur Säuberung von Bodenflächen oder zum Rasenschneiden ist bekannt. Einfache Systeme arbeiten nach dem Zufallsprinzip, d. h., bei einer Kollision mit einem Hindernis ändern sie lediglich ihre Fahrtrichtung. Die vollständige Bearbeitung der Fläche erfolgt nach dem Zufallsprinzip, wobei auch mehrfaches Überfahren von Bereichen in Kauf genommen wird. Der damit verbundene Vorteil einer einfachen und preiswerten Sensorik wird mit größerem Zeitbedarf erkauft.The Use of self-propelled robots for cleaning of floor surfaces or Lawn cutting is known. Simple systems work after the Random principle, d. h., in a collision with an obstacle they change only their direction of travel. The complete processing of the surface takes place at random, whereby also multiple driving over of areas in Purchase is taken. The associated advantage of a simple and inexpensive sensors will take more time he buys.
Komplexe Systeme beinhalten eine zielgerichtete Navigation, die unter anderem eine Vermeidung von Kollisionen einschließt. Zur sinnvollen Pfadplanung in einer unbekannten Umgebung ist eine simultane Lokalisation und Kartenerstellung erforderlich (SLAM – Simultaneous Location and Mapping). Die Lokalisation wird üblicherweise durch die Erkennung prägnanter Punkte der Umgebung (Landmarks) unterstützt. Während der Abarbeitung des Pfades muss der Roboter außerdem Hindernissen ausweichen und auf aktuelle Ereignisse reagieren. Hierzu sind bereits verschiedene Verfahren und Strategien unter Verwendung unterschiedlicher Sensorarten bekannt, z. B. Odometrie, optische und akustische Abstandssensoren. Detailreiche Informationen über die Umgebung des Roboters und Abstände von Hindernissen liefern 3D-orientierte Systeme wie Laserscanner oder stereoskopische Kamerasysteme. Das stereoskopische Kamerasystem ähnelt dem menschlichen Gesichtssinn – durch die Unterschiede im rechten und linken Bild können durch Triangulation Tiefeninformationen gewonnen werden.complex Systems include purposeful navigation, among others an avoidance of collisions. For meaningful path planning in an unknown environment is a simultaneous localization and Map Creation Required (SLAM - Simultaneous Location and Mapping). The localization usually becomes through the recognition more succinct Points of the environment (Landmarks) supported. During the execution of the path the robot must also Dodge obstacles and react to current events. For this Different methods and strategies are already being used different types of sensors known, for. B. Odometry, optical and acoustic distance sensors. Detailed information about the Environment of the robot and distances Obstacles deliver 3D-oriented systems such as laser scanners or stereoscopic camera systems. The stereoscopic camera system is similar to the human sense of sight - through The differences in the right and left image can be through triangulation depth information be won.
Aus
der
Aus
der
Der Erfindung stellt sich somit das Problem, einen selbstfahrenden Roboter der eingangs genannten Art bzw. ein Verfahren zur Erfassung und Auswertung eines dreidimensionalen Bildes der Fahrumgebung eines selbstfahrenden Roboters zu offenbaren, bei dem die Sensorik einfach, preiswert und damit für Consumer-Produkte einsetzbar ist.Of the Invention thus raises the problem of a self-propelled robot of the type mentioned above or a method for detection and evaluation a three-dimensional image of the driving environment of a self-propelled To reveal a robot in which the sensors are simple, inexpensive and with it for Consumer products can be used.
Erfindungsgemäß wird dieses Problem durch eine Vorrichtung mit den Merkmalen des Patentanspruchs 1 bzw. durch ein Verfahren mit den Merkmalen des Patentanspruchs 7 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den nachfolgenden Unteransprüchen.According to the invention this Problem by a device having the features of the claim 1 or by a method having the features of the claim 7 solved. Advantageous embodiments and further developments of the invention result from the following subclaims.
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Es zeigtOne embodiment The invention is shown purely schematically in the drawings and will be closer below described. It shows
Der
selbstfahrende Roboter, beispielsweise ein in den
Die
Welt eines flachen Robotsaugers
Die
gesamte Bilderfassung des Robotsaugers ist in
Besondere
Anforderungen an die Bildauflösung
in vertikaler Richtung werden nicht gestellt, da es ausreicht, wenn
ein Hindernis
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200710015552 DE102007015552B3 (en) | 2007-03-29 | 2007-03-29 | Self-propelled automotive robot for e.g. treatment of floor space, has lenses and mirrors spaced apart from each other in horizontal direction to guide environment image to image halves of camera module |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200710015552 DE102007015552B3 (en) | 2007-03-29 | 2007-03-29 | Self-propelled automotive robot for e.g. treatment of floor space, has lenses and mirrors spaced apart from each other in horizontal direction to guide environment image to image halves of camera module |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102007015552B3 true DE102007015552B3 (en) | 2008-08-07 |
Family
ID=39587574
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200710015552 Expired - Fee Related DE102007015552B3 (en) | 2007-03-29 | 2007-03-29 | Self-propelled automotive robot for e.g. treatment of floor space, has lenses and mirrors spaced apart from each other in horizontal direction to guide environment image to image halves of camera module |
Country Status (1)
Country | Link |
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DE (1) | DE102007015552B3 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010020537A1 (en) | 2010-05-14 | 2011-11-17 | H&S Robotic Solutions GbR (vertretungsberechtigter Gesellschafter: Bernd-Helge Schäfer, 67661 Kaiserslautern) | Passive water surface detector for use in autonomous system of self-propelled lawn mower moved over area of golf course, has sensor elements connected to data evaluation device and generating image with different polarizations from scene |
EP2764812A1 (en) * | 2013-02-12 | 2014-08-13 | Hako GmbH | Cleaning robot |
EP3037860A3 (en) * | 2014-12-24 | 2016-11-02 | Samsung Electronics Co., Ltd. | Lens assembly, obstacle detecting unit using the same, and moving robot having the same |
EP3082006A3 (en) * | 2015-04-16 | 2016-12-28 | Samsung Electronics Co., Ltd. | Cleaning robot and method of controlling the same |
EP3139806B1 (en) | 2014-05-08 | 2019-07-17 | Alfred Kärcher SE & Co. KG | Self driving and self steering floor cleaning device and method for cleaning a floor surface |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0358628A2 (en) * | 1988-09-06 | 1990-03-14 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US5101351A (en) * | 1989-04-12 | 1992-03-31 | Nissan Motor Company, Limited | Autonomous vehicle using fuzzy control |
DE19614916A1 (en) * | 1996-04-16 | 1997-11-06 | Detlef Raupach | Floor cleaning robot vehicle for use in rooms |
-
2007
- 2007-03-29 DE DE200710015552 patent/DE102007015552B3/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0358628A2 (en) * | 1988-09-06 | 1990-03-14 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US5101351A (en) * | 1989-04-12 | 1992-03-31 | Nissan Motor Company, Limited | Autonomous vehicle using fuzzy control |
DE19614916A1 (en) * | 1996-04-16 | 1997-11-06 | Detlef Raupach | Floor cleaning robot vehicle for use in rooms |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010020537A1 (en) | 2010-05-14 | 2011-11-17 | H&S Robotic Solutions GbR (vertretungsberechtigter Gesellschafter: Bernd-Helge Schäfer, 67661 Kaiserslautern) | Passive water surface detector for use in autonomous system of self-propelled lawn mower moved over area of golf course, has sensor elements connected to data evaluation device and generating image with different polarizations from scene |
EP2764812A1 (en) * | 2013-02-12 | 2014-08-13 | Hako GmbH | Cleaning robot |
CN103976694A (en) * | 2013-02-12 | 2014-08-13 | 哈高有限责任公司 | Cleaning robot |
US9468352B2 (en) | 2013-02-12 | 2016-10-18 | Hako Gmbh | Cleaning robot |
EP3139806B1 (en) | 2014-05-08 | 2019-07-17 | Alfred Kärcher SE & Co. KG | Self driving and self steering floor cleaning device and method for cleaning a floor surface |
EP3037860A3 (en) * | 2014-12-24 | 2016-11-02 | Samsung Electronics Co., Ltd. | Lens assembly, obstacle detecting unit using the same, and moving robot having the same |
US9864914B2 (en) | 2014-12-24 | 2018-01-09 | Samsung Electronics Co., Ltd. | Lens assembly, obstacle detecting unit using the same, and moving robot having the same |
EP3082006A3 (en) * | 2015-04-16 | 2016-12-28 | Samsung Electronics Co., Ltd. | Cleaning robot and method of controlling the same |
US10248125B2 (en) | 2015-04-16 | 2019-04-02 | Samsung Electronics Co., Ltd. | Cleaning robot and method of controlling the same |
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |