JP6108328B2 - 自立走行車両をドッキングステーションへ誘導する装置 - Google Patents
自立走行車両をドッキングステーションへ誘導する装置 Download PDFInfo
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- JP6108328B2 JP6108328B2 JP2016512411A JP2016512411A JP6108328B2 JP 6108328 B2 JP6108328 B2 JP 6108328B2 JP 2016512411 A JP2016512411 A JP 2016512411A JP 2016512411 A JP2016512411 A JP 2016512411A JP 6108328 B2 JP6108328 B2 JP 6108328B2
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Description
4 移動ロボット
6 ドッキングステーション
8 電気的接点
10 コンセント
12 電源供給部
14 ケーブル
16 本体部
18 分離装置
20 凹部
22 トラクションユニット
24 クリーナーヘッド
30 制御システム
32 コントローラ
34 センサ群
36 ナビゲーションセンサ
38 近距離近接センサアレイ
40 凸凹検出システム
42 ユーザインタフェース
44 モータ
46 検知手段
48 吸引モータ
50 攪拌機モータ
52 バッテリパック
54 充電インタフェース
56 パノラマ環状レンズ
58 焦点調節システム
60 画像センサ
62 環状上部表面
64 環状下部表面
68 ナビゲーション制御モジュール
70 ドッキング制御モジュール
71 記憶モジュール
72 ベース部分
73 一対のターゲット
74 背部
76 後部
78 プラットフォーム部
80 第1の基準マーカー(ターゲット)
82 第2の基準マーカー(ターゲット)
Claims (20)
- 自立走行車両であって、カメラベースの検知システム、該自立走行車両を駆動するための駆動システム、および、前記駆動システムを制御するための制御システムが設けられた、自立走行車両と、
第1の基準マーカーおよび第2の基準マーカーを有するドッキングステーションであって、前記第2の基準マーカーが、前記第1の基準マーカーに対して所定の相対的間隔を規定するように前記ドッキングステーション上に位置している、前記ドッキングステーションと、
を備えた、自立走行車両をドッキングステーションへ誘導する装置であって、
前記制御システムが、
カメラベースの検知システムによって提供される前記第1の基準マーカーおよび前記第2の基準マーカーの画像を含む画像データを受信し、かつ、
前記自立走行車両を前記ドッキングステーションへ誘導するために、前記受信された画像データにおける画像フレームの底辺から前記第1の基準マーカーの基準点までの間隔と前記画像フレームの底辺から前記第2の基準マーカーの基準点までの間隔とを比較し、該比較結果に基づいて、前記自立走行車両の前記駆動システムを制御するように動作可能とされている、
自立走行車両をドッキングステーションへ誘導する装置。 - 前記制御システムがさらに、
前記第1の基準マーカーと前記第2の基準マーカーとの間の所定の相対的間隔に関連するデータを保存し、
前記画像における前記第1の基準マーカーと前記第2の基準マーカーとを探索して特定し、
前記画像における前記第1の基準マーカーと前記第2の基準マーカーとの間の間隔を評価し、
前記第1の基準マーカーと前記第2の基準マーカーとの間の前記評価した間隔を、前記所定の相対的間隔と比較して、
前記自立走行車両を前記ドッキングステーションへ誘導するために前記駆動システムを前記比較に従って制御する
ように動作可能とされている、請求項1に記載の装置。 - 前記制御システムが、前記画像における第1の基準マーカーと前記第2の基準マーカーとの間隔を、所定の値と比較し、該比較結果に基づいて前記自立走行車両を前記ドッキングステーションへ誘導するように動作可能とされている、請求項1または2に記載の装置。
- 前記第1の基準マーカーと前記第2の基準マーカーとが、前記ドッキングステーションが床面の上に配置されたときに、直立姿勢にある前記ドッキングステーションの表示部分に位置している、請求項1から3のいずれか一項に記載の装置。
- 前記第1の基準マーカーと前記第2の基準マーカーとを担う前記ドッキングステーションの前記表示部分が平面状とされている、請求項4に記載の装置。
- 前記第1の基準マーカーおよび前記第2の基準マーカーが、それぞれ、パターンを規定していて、前記第1の基準マーカーの前記パターンが、前記第2の基準マーカーの前記パターンと同じパターンとされている、請求項1から5のいずれか一項に記載の装置。
- 前記第1の基準マーカーおよび前記第2の基準マーカーが、それぞれ、パターンを規定していて、前記第1の基準マーカーの前記パターンが、前記第2の基準マーカーの前記パターンに対して鏡像とされている、請求項1から5のいずれか一項に記載の装置。
- 前記パターンが、2×2構成の4つの正方形で構成されたグリッド部とされ、かつ、前記グリッド部における交互配置された複数の正方形が対比色とされている、請求項6または7に記載の装置。
- 前記カメラベースの検知システムが、全方向カメラを備えている、請求項1から8のいずれか一項に記載の装置。
- 前記車両が自律型表面処理器具とされている、請求項1から9のいずれか一項に記載の装置。
- 自立走行車両のためのドッキングステーションであって、
第1の基準マーカーと前記第1の基準マーカーから所定の距離だけ離隔されている第2の基準マーカーとを有する表示部分と、
前記表示部分に対して折りたたんだ状態にされ得るように枢動可能とされているベース部分と
を備え、
前記ベース部分の底面が床面上に配置されたときに、前記表示部分が直立姿勢にあり、
前記ベース部分の底面が床面上に配置されたときに、前記第1の基準マーカーと床面との間隔と前記第2の基準マーカーと床面との間隔とが同一である、
自立走行車両のためのドッキングステーション。 - 前記第1の基準マーカーと前記第2の基準マーカーとが、前記ドッキングステーションが床面の上に配置されたときに、実質的に直立姿勢にある前記ドッキングステーションの表示部分に位置している、請求項11に記載のドッキングステーション。
- 前記ドッキングステーションの前記表示部分が平面状とされている、請求項12に記載のドッキングステーション。
- 前記表示部分が、前記ドッキングステーションのベース部分に対して枢動可能とされている、請求項12または13に記載のドッキングステーション。
- 前記第1の基準マーカーおよび前記第2の基準マーカーが、それぞれ、パターンを規定していて、前記第1の基準マーカーの前記パターンが、前記第2の基準マーカーの前記パターンと同じパターンとされている、請求項12から14のいずれか一項に記載のドッキングステーション。
- 前記第1の基準マーカーおよび前記第2の基準マーカーが、それぞれ、パターンを規定していて、前記第1の基準マーカーの前記パターンが、前記第2の基準マーカーの前記パターンに対して鏡像とされている、請求項12から14のいずれか一項に記載のドッキングステーション。
- 前記パターンが、2×2構成の4つの正方形で構成されたグリッド部とされ、かつ、前記グリッド部における交互配置された複数の正方形が対比色とされている、請求項15または16に記載のドッキングステーション。
- 自立走行車両を制御して前記車両をドッキングステーションへ誘導する方法であって、
前記ドッキングステーションが、第1の基準マーカーと第2の基準マーカーとを備え、
前記第2の基準マーカーが、前記第1の基準マーカーに対して所定の相対的間隔を規定するように前記ドッキングステーション上に位置し、かつ、前記方法が、
前記自立走行車両が、前記ドッキングステーションを含む画像を撮影するステップと、
前記自立走行車両を前記ドッキングステーションへ誘導するために、前記画像における画像フレームの底辺から前記第1の基準マーカーの基準点までの間隔と前記画像フレームの底辺から前記第2の基準マーカーの基準点までの間隔とを比較し、該比較結果に基づいて、前記自立走行車両の駆動システムを制御するステップと、
を含む、自立走行車両を制御して前記車両をドッキングステーションへ誘導する方法。 - 前記第1の基準マーカーと前記第2の基準マーカーとの間の所定の相対的間隔に関連するデータを保存するステップと、
前記画像における前記第1の基準マーカーと前記第2の基準マーカーとを探索して特定するステップと、
前記画像における前記第1の基準マーカーと前記第2の基準マーカーとの間の間隔を評価するステップと、
前記第1の基準マーカーと前記第2の基準マーカーとの間の前記評価した間隔を、前記所定の相対的間隔と比較するステップと、
前記自立走行車両を前記ドッキングステーションへ誘導するために前記駆動システムを前記比較に従って制御するステップと、
をさらに含む、請求項18に記載の方法。 - 自立走行車両において実行されると請求項18または19に記載の方法を実行するプログラムコード命令を備えたことを特徴とする、コンピュータ読取り可能な媒体に格納されたコンピュータプログラム製品。
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- 2014-04-25 JP JP2016512411A patent/JP6108328B2/ja not_active Expired - Fee Related
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KR102444693B1 (ko) * | 2017-11-15 | 2022-09-20 | 삼성전자 주식회사 | 청소용 이동장치 및 그 제어방법 |
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WO2014181083A1 (en) | 2014-11-13 |
GB2513912A (en) | 2014-11-12 |
GB2513912B (en) | 2018-01-24 |
US20160091899A1 (en) | 2016-03-31 |
CN105209997B (zh) | 2018-09-11 |
GB201308450D0 (en) | 2013-06-19 |
CN105209997A (zh) | 2015-12-30 |
US10175696B2 (en) | 2019-01-08 |
US20180004219A1 (en) | 2018-01-04 |
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