DE102008003795A1 - Movable part i.e. cleaning device, navigating method for e.g. implementing operation on surface or on part, involves developing course of motion on surface from position based on navigation station - Google Patents

Movable part i.e. cleaning device, navigating method for e.g. implementing operation on surface or on part, involves developing course of motion on surface from position based on navigation station

Info

Publication number
DE102008003795A1
DE102008003795A1 DE102008003795A DE102008003795A DE102008003795A1 DE 102008003795 A1 DE102008003795 A1 DE 102008003795A1 DE 102008003795 A DE102008003795 A DE 102008003795A DE 102008003795 A DE102008003795 A DE 102008003795A DE 102008003795 A1 DE102008003795 A1 DE 102008003795A1
Authority
DE
Germany
Prior art keywords
characterized
handset
method according
navigation station
signals
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.)
Withdrawn
Application number
DE102008003795A
Other languages
German (de)
Inventor
Martin Beck
Frank Brückner
Joachim Dr. Damrath
Matthias Hennig
Sylvia Horn
Henri Kirmse
Markus Spielmannleitner
Gerhard Wetzl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BSH Bosch und Siemens Hausgaraete GmbH
Original Assignee
BSH Bosch und Siemens Hausgaraete GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by BSH Bosch und Siemens Hausgaraete GmbH filed Critical BSH Bosch und Siemens Hausgaraete GmbH
Priority to DE102008003795A priority Critical patent/DE102008003795A1/en
Publication of DE102008003795A1 publication Critical patent/DE102008003795A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/009Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle

Abstract

The method according to the invention serves to navigate a handset moving autonomously within a delimited area, performing work on the area or on parts of it, in particular a cleaning device for floors. For this purpose, a navigation station stationarily arranged with respect to the surface transmits signals to the handset from two mutually spaced transmitting devices, whereupon the mobile unit determines its position relative to the navigation station from a measurement of the transit time difference of the signals and the known distance of the two transmitting devices from one another according to the trilateration algorithm, and from this, starting from the navigation station, developed the further movement on the surface. The device according to the invention comprises a correspondingly navigable handset.

Description

  • The The invention relates to a method for navigating within a delimited area autonomously moving on the area or parts of it carrying out works Handset, in particular a cleaning device for Floors. The invention also relates a device with such a handset.
  • Out the prior art, various proposals are known Equip devices such that they in the learning mode a to be processed, so for example to be cleaned, area completely off.
  • For this purpose, methods are known in which the surface to be machined or the areas not to be traversed are delimited or demarcated by metal wires or the like. These are then, as in the EP 0 829 040 B1 described, detected by appropriate sensors.
  • The WO 03/039314 A1 describes a method in which such a device follows a boundary of a room, while the associated path information stores and compares them with a previously traversed body.
  • In the in the DE 103 19 513 A1 described device takes an upward camera images perpendicular to the direction of travel. Further, there is an obstacle detector on the main body front side. In a memory, the position data of detected obstacles are stored, which allows a control unit to calculate the position information of obstacles and further determines whether the position information stored in the memory forms a closed curve.
  • In the EP 0485879 A2 a method for the localization of vehicles is described, in which at least two fixed devices at predetermined times transmit ultrasonic signals and their transit times are measured, which can be determined for localization, the distances between the vehicle and the fixed devices.
  • The U.S. Patent 4,751,689 finally describes a method for distance measurement. Here, a radio and ultrasonic signal are emitted at the same time; the resulting transit time difference is a measure of the distance.
  • Of the Invention is based on the object, a method for navigating to create a handset of the type mentioned, which It is possible to have an area with as possible low multiple coverage to edit. Because of this It should be possible in particular method, autonomous devices a position determination and thus a navigation in the room without Odometry (distance measurement over Radumdrehung) to allow.
  • These Problem is solved according to the invention by a method in which one stationary with respect to the surface arranged navigation station of two objected to each other Transmitter sends signals to the handset and the handset from a measurement of the transit time difference of the signals and the known Distance of the two transmitting devices from each other according to the algorithm trilateration the position of the handset with respect to determined from the navigation station and, starting from the navigation station, developed the further movement on the surface.
  • Of the The advantage achieved by the invention consists essentially in that the handset in an unfamiliar environment does its job in a shorter time than a device, whose movement works randomly, up this way a Mehrfachüberfahrung of certain areas he follows. As far as such a device for cleaning Soil is used, it is still possible to apply a meaningful cleaning strategy. This is special in the wet cleaning of importance. Random changes of direction This would be for the cleaning result rather disadvantageous.
  • In preferred embodiment of the invention, the position determination takes place by determining the distance from the transmitting devices from each other and the distance of the handset from the transmitting devices resulting polar coordinates.
  • advantageously, however, can convert the polar coordinates to indicate the position done in Cartesian coordinates.
  • For the applications in practice, it is advantageous if the transmitting devices work with ultrasound and / or infrared transmission. As far as working with both kinds of transmitting devices, we recommend it turns out that the infrared signals distinguish it from the ultrasonic signals are encoded.
  • Further In the context of the invention, the mobile part may have a gyroscope, that with a stay at the navigation station, the component a base station can be calibrated, the base station for the regeneration of work equipment, for charging the power supply or the like of the handset is used.
  • The handset has expediently egg NEN memory for the deposition of the coordinates of each already covered or processed route, it may be sufficient to store in each case only the beginning and end point with known trajectory of the handset.
  • Corresponding The handset may have a memory for storing the coordinates of each still to be covered or edited route exhibit.
  • Further It has proved to be advantageous in the context of the invention, when the handset is guided on circular paths around the navigation station becomes. The departure of the individual tracks is advantageously carried out after a backtracking algorithm, that is, after successful Departing a train will be a new, the handset nearest Track hit and edited.
  • Further is provided that when an obstacle occurs the handset its outer contour in the direction of a diminishing Distance from the navigation station follows as long as the handset is located closer to the navigation station by a distance and that, if the obstacle can still be avoided, the Reverse direction is reversed and followed the obstacle contour is until the obstacle is avoided or a distance from the navigation station is reached, the one track distance further to the original route from the navigation station is removed.
  • in this connection is further appropriate, although the position data of obstacles are stored in a memory. Then exists the further advantageous possibility that the position data the obstacles to the determination of shading areas for serve the signals emitted by the transmitting devices. Also these position data of the shading areas are expediently stored in a memory.
  • After all exists in this context, the possibility that Defined areas not to be traveled and their position data also be stored in a memory. To define the The handset can not be positioned manually in areas that are not accessible and the position determination via the transmitting devices carried out by means of ultrasound and / or infrared transmission.
  • Especially for later, re-machining operations On this surface there can be a further shortening the processing time be appropriate, from the stored position data of the obstacles and / or position data the shading areas and / or the position data not to driving areas to create a raster map.
  • in the With regard to the difficult navigation, small shading areas can be used be driven off with the help of the gyroscope, while large Shading areas are processed with a separate program section become.
  • The Position data of the obstacles can continue to optimize the route maintaining a sufficient distance when starting the base station or certain to be processed orbits serve.
  • When particularly advantageous mode of operation has been found that the handset on circular orbits with the distance greater the radius is guided around the navigation station, until the end of the navigation station opposite is reached.
  • For a navigation in large shading areas suggests the invention, which from the localization data during the speed of travel determined on a circular path with additional use of the gyroscope when starting a Point of a trajectory long ago. additionally Hereby it is possible to determine the route when navigating in large coverage areas the signals a arranged on the handset mechanical or preferably optical Evaluate mouse sensor. Additionally or alternatively while the signals of the mouse sensor with the data of the gyroscope adjusted and be used for a drift correction.
  • In In this context it is also possible to determine of path changes, the measuring signals of one or more acceleration sensors although not generally comparable Accuracies can be expected.
  • Around Influences on the route of the handset in advance to can be used to determine the surface texture the area covered in the structure of the subsoil, the nature of the Bottom of the handset and other parameters dependent Driving behavior of the handset first a calibration be performed.
  • After all can in the context of the procedure in a drive of the handset by rotating flywheels in such a calibration drive depending from the selected mass position the optimum speed the momentum masses are determined under the boundary condition that At low speed, the driving speed is low and at high Speed of the handset is difficult to control.
  • For the application of the method according to the invention a device is proposed for carrying out Working within a delimited area, with one moving autonomously on the plane or on parts thereof Handset, in particular a cleaning device for Floors, further with a respect the surface stationarily arranged navigation station with two spaced transmitting devices connected to Navigating the handset Sending out signals using the handset Provided with receiving devices, via the from a Measurement of the transit time difference of the signals and the known distance the two transmitting devices of each other, the position of the handset determined with respect to the navigation station and on the further movement sequence can be controlled.
  • A Such device is advantageously for the regeneration of Work equipment, for charging the power supply and the like Operations of the handset with a stationary Base station provided. In this case, the navigation station can be expediently be integrated in the handset.
  • The Transmitting devices of the navigation part are expediently formed by ultrasonic and / or infrared transmitters.
  • Further It is within the scope of the invention advantageous if the handset a Gyroscope that calibrates when staying at the navigation station and navigation in areas shaded by obstacles allowed.
  • Further It is recommended that the handset is equipped with a memory is in which position data of detected obstacles and / or shading areas caused by the obstacles and / or can be stored by non-driving areas.
  • Also for navigation in shading areas it is expedient if arranged on the handset, a mechanical or preferably optical mouse sensor whose signals are evaluated to determine the travel can be.
  • additionally or alternatively, one or more of the handsets may be used Acceleration sensors for determining path changes be provided.
  • After all It has become suitable for specific uses, especially at Application of the handset as a cleaning element, as advantageous proved that the handset instead of through drive wheels over two diagonally opposite to the surface of rotating flywheels is driven. This gives the possibility that the handset only with its cleaning surface with underground, so no additional, the cleaning effect possibly interfering points of contact consist of the surface to be cleaned.
  • in the The invention will be described below with reference to a drawing Embodiment explained in more detail; show it:
  • 1 a schematic representation of the navigation method,
  • 2 the main algorithm for the execution of the navigation program,
  • 3 in the left-hand illustration a surface to be processed with obstacles, in the right-hand representation the card of this determined from areas not to be approached by the mobile part.
  • That in the drawing in 1 only schematically illustrated handset is used to perform specially assigned work, such as the cleaning of a floor, where - especially with regard to a time-optimized operation - a multiple overlap already processed surface sections should be avoided. For this purpose, a navigation station arranged stationarily with respect to the surface is provided which has two transmission devices which are objected to each other, that is to say a transmitter 1 and a transmitter 2 according to FIG 1 which sends signals to the AWM designated handset. According to the trilateration algorithm, the handset AWM determines its position relative to the navigation station, using the transit time difference of the signals for this purpose. From this result, the further movement on the surface is then developed.
  • The Transmitting devices operate with ultrasound and / or infrared transmission, wherein the infrared signals to distinguish from the ultrasonic signals can be coded. Next, the handset can be a gyroscope which calibrates during a stay at the navigation station becomes. The navigation station is expediently integrated in the base station.
  • The Handset is provided with a memory in which position data of determined according to the described method Obstacles and / or shading areas caused by the obstacles and / or non-driving areas can be stored. Next, the handset, a mechanical or preferably optical Mouse sensor may be arranged, whose signals in particular in the field evaluated by Abschattungsbereichen for determining the travel can be.
  • Of Furthermore, one or more acceleration sensors can be provided on the mobile part be provided for the determination of path changes, which also to Navigation preferably be used in shading areas can.
  • The Handset itself is not shown in detail instead of drive wheels over two oblique driven to the surface rotating flywheels, whereby - which in particular with application of cleaning works is advantageous - no additional contact of Drive means with the surface to be cleaned.
  • in this connection is the speed of the flywheels depending on Working conditions adjustable because too low a speed too low drive speeds leads while When overwriting the optimum speed an increasingly worse Controllability of the handset occurs. In particular, the Speed also during operation in a suitable manner be readjusted.
  • In 2 a possible complete casserole of a navigation program is shown; Thereafter, a calibration of the gyroscope takes place first at the handset located at the base station. This is followed by a reference trip to determine the appropriate speed of the flywheels, which can continue to follow a movement test. Following this, a first regeneration trip to the base station take place, whereupon - for the actual start of work - a runway is stored.
  • in the Following the individual tracks are approached, respectively interrupted by individual Regenerierfahrten, until finally all tracks are gone. Following that will be until then unprocessed areas of obstacles or shadowing Initially, a subdivision of the individual Areas and then this - again possibly interrupted Regenerating trips - be processed sequentially. Following a last Regenerierfahrt, so return to the base station, whereby the entire process is completed.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
  • Cited patent literature
    • - EP 0829040 B1 [0003]
    • WO 03/039314 A1 [0004]
    • DE 10319513 A1 [0005]
    • EP 0485879 A2 [0006]
    • US 4751689 [0007]

Claims (36)

  1. Method for navigating one within one demarcated area autonomously moving, on the surface or on parts of it carrying out handset, in particular a floor cleaner, in which one stationary with respect to the surface arranged navigation station of two spaced transmitting devices sends out signals to the handset and the handset from a Measurement of the transit time difference of the signals and the known distance the two transmitting devices from each other according to the algorithm of Trilateration the position of the handset relative to the Determined and from this, starting from the navigation station, developed the further movement on the surface.
  2. Method according to claim 1, characterized in that that the position determination by determining the distance the transmitting devices from each other and the distance of the handset is carried out by the transmitting means polar coordinates.
  3. Method according to claim 2, characterized in that that for the position indication a conversion of the polar coordinates into Cartesian coordinates are done.
  4. Method according to one of claims 1 to 3, characterized in that the transmitting devices with ultrasound and / or infrared transmission work.
  5. Method according to claim 4, characterized in that that the infrared signals to distinguish from the ultrasonic signals are encoded.
  6. Method according to one of claims 1 to 5, characterized in that the mobile part has a gyroscope, that with a stay at the navigation station, the component a base station can be calibrated, the base station for the regeneration of work equipment, for charging the power supply and the like of the handset is used.
  7. Method according to one of claims 1 to 6, characterized in that the mobile part a memory for Passing the coordinates of each already covered or processed route has.
  8. Method according to one of claims 1 to 7, characterized in that the mobile part a memory for Deposit of the coordinates of each still to be covered or to be processed distance.
  9. Method according to one of claims 1 to 7, characterized in that the mobile part to circular paths around the navigation station is guided.
  10. Method according to claim 9, characterized that the departure of the individual tracks according to a backtracking algorithm he follows.
  11. Method according to claim 9 or 10, characterized that when an obstacle, the handset whose outer contour in the direction of a decreasing distance from the navigation station this follows until the handset is closer to a track distance located at the navigation station, and that, provided the obstacle then can still be bypassed, the direction of reversal and the obstacle contour is followed until the obstacle passes or a distance from the navigation station is reached, the a track distance further from the original one Travel distance from the navigation station is removed.
  12. Method according to claim 11, characterized in that that the position data of obstacles stored in a memory become.
  13. Method according to claim 12, characterized in that that the position data of the obstacles to the determination of shading areas for the emitted by the transmitting devices signals.
  14. Method according to claim 13, characterized in that that the position data of shading areas in a memory be filed.
  15. Method according to one of claims 1 to 14, characterized in that defined not to be traveled areas and their position data are stored in a memory.
  16. Method according to claim 15, characterized in that that for defining the areas not to be traveled the handset is positioned manually and the position determination via the transmitting devices by means of ultrasound and / or infrared transmission he follows.
  17. Method according to one of claims 12 to 16, characterized in that from the stored position data the obstructions and / or the position data of the shading areas and / or the position data of the non-driving areas a raster map is created.
  18. Method according to one of claims 13 to 17, characterized in that small shading areas are traversed with the aid of the gyroscope, while large shading areas are processed with a separate program section become.
  19. Process according to claims 12 to 18, characterized characterized in that the position data of the obstacles for path optimization maintaining a sufficient distance when starting the base station or certain to be processed orbits serve.
  20. Method according to one of claims 1 to 19, characterized in that the mobile part on circular paths with the distance between the rails becomes larger around the Navigation station is guided until the navigation station opposite end of the room is reached.
  21. Method according to one of claims 18 to 20, characterized in that for navigation in large shading areas the out of the localization data during the movement a trajectory determined travel speed under additional Application of the gyroscope for approaching a point along a trajectory is used.
  22. Method according to one of claims 18 to 20, characterized in that for determining the travel at navigation in large shading areas the signals a arranged on the handset mechanical or preferably optical Mouse sensor are evaluated.
  23. Method according to claim 22, characterized in that that the signals of the mouse sensor are compared with the data of the gyroscope and be used for a drift correction.
  24. Method according to one of claims 1 to 23, characterized in that for determining path changes the measurement signals of one or more acceleration sensors are evaluated.
  25. Method according to one of claims 1 to 24, characterized in that for determining the surface texture the surface, the structure of the ground, the condition the bottom of the handset and other parameters Driving behavior of the handset first a calibration is carried out.
  26. Method according to claim 25, characterized in that that in a drive of the handset by rotating flywheels during calibration travel depending on the selected Mass position determines the optimum speed of the flywheel masses is under the boundary condition that at low speed the driving speed is low and at high speed, the handset more difficult to control becomes.
  27. Device for carrying out work within a delimited area, with one on the area or on parts thereof autonomously moving handset, in particular a cleaning device for floors, further stationary with respect to the surface arranged navigation station with two spaced apart Transmitting devices that send signals to navigate the handset, wherein the mobile part is provided with receiving means over from a measurement of the transit time difference of the signals and the known distance between the two transmitting devices from each other Position of the handset relative to the navigation station determined and from this the further movement sequence are controlled can.
  28. Device according to claim 27, characterized in that that for the regeneration of work equipment, for charging the power supply and the like of the handset, a stationary base station is provided.
  29. Device according to claim 28, characterized in that the navigation station is integrated in the base station.
  30. Device according to one of claims 27 to 29, characterized in that the transmitting devices of Ultrasonic and / or infrared transmitters are formed.
  31. Device according to one of claims 27 to 30, characterized in that the handset is a gyroscope which calibrates during a stay at the navigation station becomes.
  32. Device according to one of claims 27 to 31, characterized in that the handset with a memory is provided in which position data of detected obstacles and / or shading areas caused by the obstacles and / or can be stored by non-driving areas.
  33. Device according to one of claims 27 to 32, characterized in that on the handset a mechanical or preferably optical mouse sensor is arranged, whose signals can be evaluated to determine the travel.
  34. Device according to one of claims 27 to 33, characterized in that the handset one or more Acceleration sensors for determining path changes are provided.
  35. Device according to one of claims 27 to 33, characterized in that the handset instead of by Antriebräder about two diagonally opposite the surface rotating Flywheels is driven.
  36. Device according to claim 35, characterized in that that the speed of the flywheels depending on the working conditions is adjustable.
DE102008003795A 2008-01-10 2008-01-10 Movable part i.e. cleaning device, navigating method for e.g. implementing operation on surface or on part, involves developing course of motion on surface from position based on navigation station Withdrawn DE102008003795A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102008003795A DE102008003795A1 (en) 2008-01-10 2008-01-10 Movable part i.e. cleaning device, navigating method for e.g. implementing operation on surface or on part, involves developing course of motion on surface from position based on navigation station

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008003795A DE102008003795A1 (en) 2008-01-10 2008-01-10 Movable part i.e. cleaning device, navigating method for e.g. implementing operation on surface or on part, involves developing course of motion on surface from position based on navigation station

Publications (1)

Publication Number Publication Date
DE102008003795A1 true DE102008003795A1 (en) 2009-07-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2420170A1 (en) * 2010-08-20 2012-02-22 LG Electronics, Inc. Vacuum cleaner and method for controlling the same

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4751689A (en) 1985-07-22 1988-06-14 Nihon Coating Co., Ltd. Method of measuring a distance
EP0485879A2 (en) 1990-11-13 1992-05-20 Robert Bosch Gmbh Method and device for determining the position of vehicles in a driverless transport system
EP0829040B1 (en) 1995-05-30 2002-04-03 Friendly Robotics Limited Navigation method and system
WO2003039314A2 (en) 2001-11-03 2003-05-15 Dyson Ltd An autonomous machine
DE10319513A1 (en) 2002-10-31 2004-05-19 Samsung Gwangju Electronics Co. Ltd. Automatic cleaning device and automatic cleaning system and method for controlling them
US20040204804A1 (en) * 2003-04-08 2004-10-14 Samsung Electronics Co., Ltd. Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
DE102004003629A1 (en) * 2003-07-23 2005-02-24 Lg Electronics Inc. Mobile robot position detecting method, involves detecting position of robot based on calculated time difference between received infrared and ultrasonic signals and previously stored distance between ultrasonic wave generators
DE102004014273A1 (en) * 2004-03-22 2005-10-13 BSH Bosch und Siemens Hausgeräte GmbH Surface machining system
WO2006011175A1 (en) * 2004-07-26 2006-02-02 Cesare Mattoli System and device used to automatically determine the position of an entity with respect to two or more reference entities in real time

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4751689A (en) 1985-07-22 1988-06-14 Nihon Coating Co., Ltd. Method of measuring a distance
EP0485879A2 (en) 1990-11-13 1992-05-20 Robert Bosch Gmbh Method and device for determining the position of vehicles in a driverless transport system
EP0829040B1 (en) 1995-05-30 2002-04-03 Friendly Robotics Limited Navigation method and system
WO2003039314A2 (en) 2001-11-03 2003-05-15 Dyson Ltd An autonomous machine
DE10319513A1 (en) 2002-10-31 2004-05-19 Samsung Gwangju Electronics Co. Ltd. Automatic cleaning device and automatic cleaning system and method for controlling them
US20040204804A1 (en) * 2003-04-08 2004-10-14 Samsung Electronics Co., Ltd. Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot
DE102004003629A1 (en) * 2003-07-23 2005-02-24 Lg Electronics Inc. Mobile robot position detecting method, involves detecting position of robot based on calculated time difference between received infrared and ultrasonic signals and previously stored distance between ultrasonic wave generators
DE102004014273A1 (en) * 2004-03-22 2005-10-13 BSH Bosch und Siemens Hausgeräte GmbH Surface machining system
WO2006011175A1 (en) * 2004-07-26 2006-02-02 Cesare Mattoli System and device used to automatically determine the position of an entity with respect to two or more reference entities in real time

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2420170A1 (en) * 2010-08-20 2012-02-22 LG Electronics, Inc. Vacuum cleaner and method for controlling the same
RU2478335C1 (en) * 2010-08-20 2013-04-10 ЭлДжи ЭЛЕКТРОНИКС ИНК. Vacuum cleaner and vacuum cleaner control method

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