JP5073950B2 - 自律走行ロボットの位置認識システム - Google Patents
自律走行ロボットの位置認識システム Download PDFInfo
- Publication number
- JP5073950B2 JP5073950B2 JP2006026105A JP2006026105A JP5073950B2 JP 5073950 B2 JP5073950 B2 JP 5073950B2 JP 2006026105 A JP2006026105 A JP 2006026105A JP 2006026105 A JP2006026105 A JP 2006026105A JP 5073950 B2 JP5073950 B2 JP 5073950B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- position recognition
- floor
- recognition system
- magnet
- 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
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 5
- 229910003460 diamond Inorganic materials 0.000 claims description 2
- 239000010432 diamond Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000009408 flooring Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 description 8
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000009751 slip forming Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
-
- 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
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- 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
- G05D1/0225—Control 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
Description
20 ファンモーター
30 ダストバッグ
40 ダストケース
50 吸入管
60 吸入口
70 制御部
80 メインブラシ
Claims (8)
- 磁石が挿入された床と、
該床上を自律走行しながら前記磁石を感知し得るマグネットセンサが備えられた自律走行ロボットと、を含み、
前記磁石の配置構造は、
前記ロボットの限界移動領域を表示するために前記床の外郭に形成された外郭識別部と、
前記床の中央を表示するために中央付近に形成された中央識別部と、
を含んで構成された、
ことを特徴とする自律走行ロボットの位置認識システム。 - 前記床は、
木質床材で形成されたことを特徴とする請求項1に記載の自律走行ロボットの位置認識システム。 - 前記磁石の配置構造は、
前記ロボットを所定空間内に誘導するために前記空間の入口側に形成された入口識別部を含んで構成されたことを特徴とする請求項1に記載の自律走行ロボットの位置認識システム。 - 前記磁石の配置構造は、
前記ロボットを充電するための接続端子を識別し得るように前記接続端子の前に形成された充電識別部を含んで構成されたことを特徴とする請求項1に記載の自律走行ロボットの位置認識システム。 - 前記自律走行ロボットは、掃除用ロボットであることを特徴とする請求項1〜4のいずれか一項に記載の自律走行ロボットの位置認識システム。
- 木質床材で形成されて、磁石が挿入された床と、
本体ケースと、該本体ケースの内側に設置された超音波送信部及び受信部と、前記本体ケースの底面に設置され、前記磁石を感知するためのマグネットセンサが備えられた自律走行ロボットと、を含み、
前記磁石の配置構造は、
前記ロボットの限界移動領域を表示するために前記床の外郭に形成された外郭識別部と、
前記床の中央を表示するために中央付近に形成された中央識別部と、
前記ロボットを所定空間内に誘導するために前記空間の入口側に形成された入口識別部と、
前記ロボットを充電するための接続端子を識別し得るように前記接続端子の前に形成された充電識別部と、を含んで構成された、
ことを特徴とする自律走行ロボットの位置認識システム。 - 前記中央識別部は、
クロス状、ダイヤモンド状のうち、いずれか一つであることを特徴とする請求項6に記載の自律走行ロボットの位置認識システム。 - 前記入口識別部は、
一つのユニットの磁石に形成された形態、離隔された二つのユニットの磁石に形成された形態、ライン状に離隔配置された三つのユニットの磁石に形成された形態、T字状に離隔されて配列される四つのユニットの磁石に形成された形態のうち、いずれか一つであることを特徴とする請求項6に記載の自律走行ロボットの位置認識システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2005-0041334 | 2005-05-17 | ||
KR1020050041334A KR100690669B1 (ko) | 2005-05-17 | 2005-05-17 | 자율 주행 로봇의 위치인식 시스템 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006323819A JP2006323819A (ja) | 2006-11-30 |
JP5073950B2 true JP5073950B2 (ja) | 2012-11-14 |
Family
ID=37424163
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006026105A Expired - Fee Related JP5073950B2 (ja) | 2005-05-17 | 2006-02-02 | 自律走行ロボットの位置認識システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US7274167B2 (ja) |
JP (1) | JP5073950B2 (ja) |
KR (1) | KR100690669B1 (ja) |
CN (1) | CN1864944A (ja) |
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KR100874519B1 (ko) * | 2006-07-13 | 2008-12-16 | 포항공과대학교 산학협력단 | 모바일 로봇 및 이를 이용한 임상 시험 장치 |
US8915692B2 (en) * | 2008-02-21 | 2014-12-23 | Harvest Automation, Inc. | Adaptable container handling system |
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KR100925707B1 (ko) | 2009-07-17 | 2009-11-10 | 주식회사 로보메이션 | 자동 공연이 가능한 로봇용 공연장치 |
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-
2005
- 2005-05-17 KR KR1020050041334A patent/KR100690669B1/ko not_active IP Right Cessation
-
2006
- 2006-01-12 US US11/330,257 patent/US7274167B2/en active Active
- 2006-01-19 CN CNA2006100059119A patent/CN1864944A/zh active Pending
- 2006-02-02 JP JP2006026105A patent/JP5073950B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
KR100690669B1 (ko) | 2007-03-09 |
US20060261772A1 (en) | 2006-11-23 |
KR20060118901A (ko) | 2006-11-24 |
CN1864944A (zh) | 2006-11-22 |
JP2006323819A (ja) | 2006-11-30 |
US7274167B2 (en) | 2007-09-25 |
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