KR100815545B1 - 서비스 로봇 충전방법 - Google Patents
서비스 로봇 충전방법 Download PDFInfo
- Publication number
- KR100815545B1 KR100815545B1 KR1020060123050A KR20060123050A KR100815545B1 KR 100815545 B1 KR100815545 B1 KR 100815545B1 KR 1020060123050 A KR1020060123050 A KR 1020060123050A KR 20060123050 A KR20060123050 A KR 20060123050A KR 100815545 B1 KR100815545 B1 KR 100815545B1
- Authority
- KR
- South Korea
- Prior art keywords
- service robot
- charging
- charging device
- input
- terminal
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000003032 molecular docking Methods 0.000 claims abstract description 9
- 230000005856 abnormality Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 abstract 1
- 230000007257 malfunction Effects 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 15
- 239000000428 dust Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
Images
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00038—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange using passive battery identification means, e.g. resistors or capacitors
- H02J7/00041—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange using passive battery identification means, e.g. resistors or capacitors in response to measured battery parameters, e.g. voltage, current or temperature profile
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
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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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- 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
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- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with provisions for charging different types of batteries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
Claims (8)
- (a) 배터리 잔량이 소정 값 이하인 경우, 서비스 로봇의 입력단자와 충전장치의 출력단자를 도킹시키는 단계;(b) 상기 서비스 로봇의 입력단자에 소정의 충전전압이 입력되는 지를 확인하는 단계; 및(c) 상기 (b) 단계에서 상기 충전전압 미입력시 정전 또는 충전장치의 이상이 있는 지 여부를 판단하는 단계; 및(d) 상기 (c)단계에서 정전 또는 충전장치의 이상이 있는 경우 충전을 중단하는 단계;를 구비하는 서비스 로봇 충전방법
- 제1항에 있어서, 상기 (c) 단계는상기 충전장치에서 유도신호가 출력되지 않는 경우 정전 또는 충전장치의 이상으로 판단하는 단계인 서비스 로봇 충전방법
- 제2항에 있어서,상기 충전장치에서 유도신호가 출력되는 경우, 상기 (a)단계로 복귀하는 단계를 더 구비한 서비스 로봇 충전방법
- 제1항에 있어서,상기 (c) 단계는(c-1) 상기 서비스 로봇을 상기 출력단자를 향하여 소정 가압력으로 전진시키는 단계; 및(c-2) 상기 입력단자에 충전전압이 입력되지 않는 경우 정전 또는 충전장치의 이상으로 판단하는 단계;를 구비하는 서비스 로봇 충전방법
- 제4항에 있어서,상기 (c-1)단계가 적어도 2회 이상 반복되는 서비스 로봇 충전방법
- 제4항에 있어서, 상기 (c-2) 단계에서 상기 입력단자에 충전전압이 입력되는 경우 상기 (b)단계로 복귀하는 단계를 더 구비한 서비스 로봇 충전방법.
- (a) 배터리 잔량이 소정 값 이하인 경우, 서비스 로봇의 입력단자과 충전장치의 출력단자를 도킹시키는 단계;(b) 상기 서비스 로봇의 입력단자에 소정의 전압이 입력되는 지를 확인하는 단계;(c) 상기 (b)단계에서 소정의 전압이 나오지 않는 경우, 사용자가 상기 서비스 로봇을 지상으로부터 들었는 지 여부를 판단하는 단계; 및(d) 상기 (c)단계에서, 사용자가 상기 서비스 로봇을 지상으로부터 들었다고 판단되었을 경우, 충전상태를 중단시키고, 그렇지않은 경우 상기 (a) 단계로 되돌아 가는 단계;를 구비하는 서비스 로봇 충전방법.
- 제7항에 있어서,상기 서비스 로봇을 들은 상태의 판단은 서비스 로봇에 위치한 바닥 감지센서를 통하여 바닥과의 거리가 소정의 거리를 초과하는 것으로 판단하는 서비스 로봇 충전방법.
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060123050A KR100815545B1 (ko) | 2006-12-06 | 2006-12-06 | 서비스 로봇 충전방법 |
RU2007118192/12A RU2350253C2 (ru) | 2006-12-06 | 2007-05-16 | Способ зарядки обслуживающего робота (варианты) |
ES15153615.8T ES2638648T3 (es) | 2006-12-06 | 2007-07-18 | Procedimiento para cargar un robot de servicio |
EP07290899.9A EP1931010B1 (en) | 2006-12-06 | 2007-07-18 | Method for charging service robot |
DK15153615.8T DK2887494T3 (en) | 2006-12-06 | 2007-07-18 | Procedure for charging a service robot |
EP14160618.6A EP2768111B1 (en) | 2006-12-06 | 2007-07-18 | Method for charging service robot |
ES07290899.9T ES2539513T3 (es) | 2006-12-06 | 2007-07-18 | Método para cargar un robot de servicio |
ATGM289/2012U AT12831U3 (de) | 2006-12-06 | 2007-07-18 | Verfahren zur Ladung eines Dienstroboters |
DE202007019462U DE202007019462U1 (de) | 2006-12-06 | 2007-07-18 | Service-Roboter |
EP15153615.8A EP2887494B1 (en) | 2006-12-06 | 2007-07-18 | Method for charging service robot |
SK50061-2012U SK9043Y1 (sk) | 2006-12-06 | 2012-07-16 | Spôsob nabíjania servisného robota |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020060123050A KR100815545B1 (ko) | 2006-12-06 | 2006-12-06 | 서비스 로봇 충전방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR100815545B1 true KR100815545B1 (ko) | 2008-03-20 |
Family
ID=39204681
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020060123050A KR100815545B1 (ko) | 2006-12-06 | 2006-12-06 | 서비스 로봇 충전방법 |
Country Status (8)
Country | Link |
---|---|
EP (3) | EP1931010B1 (ko) |
KR (1) | KR100815545B1 (ko) |
AT (1) | AT12831U3 (ko) |
DE (1) | DE202007019462U1 (ko) |
DK (1) | DK2887494T3 (ko) |
ES (2) | ES2539513T3 (ko) |
RU (1) | RU2350253C2 (ko) |
SK (1) | SK9043Y1 (ko) |
Cited By (8)
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US8761939B2 (en) | 2010-11-09 | 2014-06-24 | Samsung Electronics Co., Ltd. | Robot system and control method thereof |
US10860029B2 (en) | 2016-02-15 | 2020-12-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
US11175670B2 (en) | 2015-11-17 | 2021-11-16 | RobArt GmbH | Robot-assisted processing of a surface using a robot |
US11188086B2 (en) | 2015-09-04 | 2021-11-30 | RobArtGmbH | Identification and localization of a base station of an autonomous mobile robot |
US11550054B2 (en) | 2015-06-18 | 2023-01-10 | RobArtGmbH | Optical triangulation sensor for distance measurement |
US11709489B2 (en) | 2017-03-02 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous, mobile robot |
US11768494B2 (en) | 2015-11-11 | 2023-09-26 | RobArt GmbH | Subdivision of maps for robot navigation |
US11789447B2 (en) | 2015-12-11 | 2023-10-17 | RobArt GmbH | Remote control of an autonomous mobile robot |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101931365B1 (ko) * | 2011-08-22 | 2018-12-24 | 삼성전자주식회사 | 로봇청소기 및 그 제어방법 |
KR101931362B1 (ko) | 2011-08-22 | 2018-12-24 | 삼성전자주식회사 | 로봇청소기 및 그 제어방법 |
US8989821B2 (en) | 2011-08-31 | 2015-03-24 | Apple Inc. | Battery configurations for electronic devices |
US9343716B2 (en) | 2011-12-29 | 2016-05-17 | Apple Inc. | Flexible battery pack |
US9812680B2 (en) | 2012-08-30 | 2017-11-07 | Apple Inc. | Low Z-fold battery seal |
US9136510B2 (en) | 2012-11-26 | 2015-09-15 | Apple Inc. | Sealing and folding battery packs |
CN103284664A (zh) * | 2013-06-28 | 2013-09-11 | 苏州市牛勿耳关电器科技有限公司 | 一种智能清洁机器人 |
CN103393383B (zh) * | 2013-07-24 | 2016-06-29 | 莱克电气股份有限公司 | 用于机器人吸尘器的意外掉电处理方法 |
DE102014112313A1 (de) * | 2013-08-30 | 2015-03-05 | Wessel-Werk Gmbh | Selbstfahrendes Saugreinigungsgerät |
KR20160095029A (ko) * | 2013-12-06 | 2016-08-10 | 알프레드 캐르혀 게엠베하 운트 컴파니. 카게 | 청소 시스템 |
US9593969B2 (en) | 2013-12-27 | 2017-03-14 | Apple Inc. | Concealed electrical connectors |
US9479007B1 (en) | 2014-02-21 | 2016-10-25 | Apple Inc. | Induction charging system |
US20150255776A1 (en) | 2014-03-06 | 2015-09-10 | Apple Inc. | Battery Pack System |
US9455582B2 (en) | 2014-03-07 | 2016-09-27 | Apple Inc. | Electronic device and charging device for electronic device |
CN103997082B (zh) * | 2014-04-21 | 2016-01-13 | 伍小军 | 移动机器人自主充电装置及其自主充电方法 |
US9917335B2 (en) | 2014-08-28 | 2018-03-13 | Apple Inc. | Methods for determining and controlling battery expansion |
US10637017B2 (en) | 2016-09-23 | 2020-04-28 | Apple Inc. | Flexible battery structure |
CN106667381A (zh) * | 2017-02-25 | 2017-05-17 | 广东宝乐机器人股份有限公司 | 清洁机器人 |
GB2566959A (en) * | 2017-09-28 | 2019-04-03 | Black & Decker Inc | Robotic device |
CN111481115B (zh) * | 2019-01-29 | 2022-07-01 | 北京奇虎科技有限公司 | 扫地机的回充对准方法、装置及扫地机 |
CN111082497B (zh) * | 2020-01-09 | 2021-08-17 | 惠州拓邦电气技术有限公司 | 清洁设备的断电判断方法与清洁设备 |
CN111436864B (zh) * | 2020-03-20 | 2023-12-29 | 美智纵横科技有限责任公司 | 控制方法、装置以及存储介质 |
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2006
- 2006-12-06 KR KR1020060123050A patent/KR100815545B1/ko active IP Right Grant
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2007
- 2007-05-16 RU RU2007118192/12A patent/RU2350253C2/ru active
- 2007-07-18 DK DK15153615.8T patent/DK2887494T3/en active
- 2007-07-18 DE DE202007019462U patent/DE202007019462U1/de not_active Expired - Lifetime
- 2007-07-18 EP EP07290899.9A patent/EP1931010B1/en active Active
- 2007-07-18 ES ES07290899.9T patent/ES2539513T3/es active Active
- 2007-07-18 ES ES15153615.8T patent/ES2638648T3/es active Active
- 2007-07-18 EP EP14160618.6A patent/EP2768111B1/en active Active
- 2007-07-18 EP EP15153615.8A patent/EP2887494B1/en active Active
- 2007-07-18 AT ATGM289/2012U patent/AT12831U3/de not_active IP Right Cessation
-
2012
- 2012-07-16 SK SK50061-2012U patent/SK9043Y1/sk unknown
Patent Citations (2)
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KR19990011956A (ko) * | 1997-07-25 | 1999-02-18 | 윤종용 | 이동 로봇의 자동 충전 방법 및 장치 |
KR20050108894A (ko) * | 2004-05-14 | 2005-11-17 | 삼성광주전자 주식회사 | 로봇 청소기 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8761939B2 (en) | 2010-11-09 | 2014-06-24 | Samsung Electronics Co., Ltd. | Robot system and control method thereof |
US11550054B2 (en) | 2015-06-18 | 2023-01-10 | RobArtGmbH | Optical triangulation sensor for distance measurement |
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US11768494B2 (en) | 2015-11-11 | 2023-09-26 | RobArt GmbH | Subdivision of maps for robot navigation |
US11175670B2 (en) | 2015-11-17 | 2021-11-16 | RobArt GmbH | Robot-assisted processing of a surface using a robot |
US11789447B2 (en) | 2015-12-11 | 2023-10-17 | RobArt GmbH | Remote control of an autonomous mobile robot |
US10860029B2 (en) | 2016-02-15 | 2020-12-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
US11709497B2 (en) | 2016-02-15 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous mobile robot |
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Also Published As
Publication number | Publication date |
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DE202007019462U1 (de) | 2012-10-09 |
EP1931010A2 (en) | 2008-06-11 |
RU2350253C2 (ru) | 2009-03-27 |
AT12831U3 (de) | 2016-01-15 |
AT12831U2 (de) | 2012-12-15 |
EP2887494B1 (en) | 2017-05-31 |
SK500612012U1 (sk) | 2020-10-02 |
EP1931010B1 (en) | 2015-03-25 |
EP1931010A3 (en) | 2013-07-24 |
EP2768111B1 (en) | 2017-06-21 |
EP2768111A1 (en) | 2014-08-20 |
ES2539513T3 (es) | 2015-07-01 |
SK9043Y1 (sk) | 2021-02-10 |
DK2887494T3 (en) | 2017-07-31 |
RU2007118192A (ru) | 2008-11-27 |
ES2638648T3 (es) | 2017-10-23 |
EP2887494A1 (en) | 2015-06-24 |
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