KR100669981B1 - 청소로봇의 청소면적 측정방법 - Google Patents
청소로봇의 청소면적 측정방법 Download PDFInfo
- Publication number
- KR100669981B1 KR100669981B1 KR1020060007829A KR20060007829A KR100669981B1 KR 100669981 B1 KR100669981 B1 KR 100669981B1 KR 1020060007829 A KR1020060007829 A KR 1020060007829A KR 20060007829 A KR20060007829 A KR 20060007829A KR 100669981 B1 KR100669981 B1 KR 100669981B1
- Authority
- KR
- South Korea
- Prior art keywords
- cleaning
- cleaning robot
- area
- robot
- virtual space
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/28—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0218—Multipath in signal reception
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (2)
- 실제 청소로봇이 청소를 수행하게 될 측정공간을 다수의 픽셀(pixel)들로 이루어진 컴퓨터 응용프로그램상의 가상공간으로 매칭시켜 컴퓨터 디스플레이 상에 나타내는 단계(S1);상기 측정공간의 내부를 주행하며 일정시간 동안 청소를 수행하는 상기 청소로봇의 위치정보를 상기 응용프로그램에 실시간으로 전송하여 상기 디스플레이 상에 표시된 가상공간에 청소로봇의 이동경로를 나타내는 단계(S2);상기 이동경로가 상기 청소로봇의 흡입구에 대응하는 두께를 갖도록 상기 가상공간 상에 표시하여 청소로봇에 의해 청소된 부분을 컴퓨터 디스플레이 상에 나타내는 단계(S3); 및상기 가상공간 상에 청소된 부분으로 표시된 영역의 픽셀들과, 상기 가상공간을 구성하는 전체 픽셀들의 비율을 계산하여 청소면적율을 계산하고, 실제 측정공간의 면적을 곱하여 청소면적을 구하는 단계(S4);로 이루어진 것을 특징으로 하는 청소로봇의 청소면적 측정방법.
- 제 1 항에 있어서, 상기 단계(S2)는,상기 측정공간의 바닥에 각각의 위치정보를 갖는 다수개의 RFID 태그를 배열 설치하고,상기 RFID 태그로부터 발생되는 위치신호를 상기 컴퓨터로 전송하는 RFID 리더기를 상기 청소로봇에 설치하여 청소로봇의 이동경로를 검출하는 것을 특징으로 하는 청소로봇의 청소면적 측정방법.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060007829A KR100669981B1 (ko) | 2006-01-25 | 2006-01-25 | 청소로봇의 청소면적 측정방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060007829A KR100669981B1 (ko) | 2006-01-25 | 2006-01-25 | 청소로봇의 청소면적 측정방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR100669981B1 true KR100669981B1 (ko) | 2007-01-16 |
Family
ID=38013911
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020060007829A KR100669981B1 (ko) | 2006-01-25 | 2006-01-25 | 청소로봇의 청소면적 측정방법 |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR100669981B1 (ko) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111238854A (zh) * | 2020-04-28 | 2020-06-05 | 浙江欣奕华智能科技有限公司 | 一种扫地机器人覆盖率的确定方法、装置、设备及介质 |
CN111399493A (zh) * | 2018-12-29 | 2020-07-10 | 北京奇虎科技有限公司 | 一种智能设备的路径展示方法和装置 |
JPWO2021245796A1 (ko) * | 2020-06-02 | 2021-12-09 | ||
CN115454108A (zh) * | 2022-09-19 | 2022-12-09 | 中国水产科学研究院渔业机械仪器研究所 | 水下清洗装置清洗路径自动控制方法 |
-
2006
- 2006-01-25 KR KR1020060007829A patent/KR100669981B1/ko active IP Right Grant
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111399493A (zh) * | 2018-12-29 | 2020-07-10 | 北京奇虎科技有限公司 | 一种智能设备的路径展示方法和装置 |
CN111238854A (zh) * | 2020-04-28 | 2020-06-05 | 浙江欣奕华智能科技有限公司 | 一种扫地机器人覆盖率的确定方法、装置、设备及介质 |
CN111238854B (zh) * | 2020-04-28 | 2020-08-04 | 浙江欣奕华智能科技有限公司 | 一种扫地机器人覆盖率的确定方法、装置、设备及介质 |
JPWO2021245796A1 (ko) * | 2020-06-02 | 2021-12-09 | ||
WO2021245796A1 (ja) * | 2020-06-02 | 2021-12-09 | 三菱電機ビルテクノサービス株式会社 | 清掃システム及びプログラム |
CN115454108A (zh) * | 2022-09-19 | 2022-12-09 | 中国水产科学研究院渔业机械仪器研究所 | 水下清洗装置清洗路径自动控制方法 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9404904B2 (en) | Methods and systems for non-destructive inspection | |
US7882723B2 (en) | Abnormality detecting method for form measuring mechanism and form measuring mechanism | |
JP2017521647A5 (ko) | ||
KR100669981B1 (ko) | 청소로봇의 청소면적 측정방법 | |
WO2007110964A1 (ja) | 位置検出プログラム及び位置検出システム | |
JP6379475B2 (ja) | 振動解析装置 | |
TWI429940B (zh) | 在由面所包圍的空間內部進行作業的位置之特定方法及作業結果管理裝置 | |
JP2004514154A (ja) | 超音波プローブ | |
CN107389316B (zh) | 显示面板测试装置和显示面板测试方法 | |
CN106028999B (zh) | 手术系统和医疗器具的干涉避免方法 | |
US8412470B2 (en) | Change mapping for structural health monitoring | |
KR101764847B1 (ko) | 문화재 구조물 모니터링 방법 | |
CN108521296B (zh) | 货品信息识别系统及方法 | |
JP2006513429A (ja) | 静電センサ | |
KR101764849B1 (ko) | 문화재 구조물 모니터링 시스템 | |
EP4160177A1 (en) | Hammering test system | |
KR20100006879U (ko) | 대형 설비의 수평감지장치 | |
KR101497396B1 (ko) | 타겟 위치 측정시스템 및 이를 이용한 타겟 위치 측정방법 | |
CN111604878A (zh) | 检测机器人 | |
JP2012132844A (ja) | 面で囲まれる容器の内壁面での検査作業結果と作業位置の特定方法及び情報管理方法 | |
US8521457B2 (en) | User designated measurement display system and method for NDT/NDI with high rate input data | |
KR101685067B1 (ko) | 배관 정보 탐색 시스템 및 방법 | |
RU2340495C1 (ru) | Способ оценки дефекта в головке рельса | |
JP7216469B2 (ja) | 周辺監視装置 | |
JP6907545B2 (ja) | 測定装置、測定方法、プログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant | ||
FPAY | Annual fee payment |
Payment date: 20130110 Year of fee payment: 7 |
|
FPAY | Annual fee payment |
Payment date: 20131211 Year of fee payment: 8 |
|
FPAY | Annual fee payment |
Payment date: 20141203 Year of fee payment: 9 |
|
FPAY | Annual fee payment |
Payment date: 20151209 Year of fee payment: 10 |
|
FPAY | Annual fee payment |
Payment date: 20161208 Year of fee payment: 11 |
|
FPAY | Annual fee payment |
Payment date: 20171221 Year of fee payment: 12 |