KR102143385B1 - 장애물 감지 모듈 및 이를 구비한 청소 로봇 - Google Patents

장애물 감지 모듈 및 이를 구비한 청소 로봇 Download PDF

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Publication number
KR102143385B1
KR102143385B1 KR1020130061815A KR20130061815A KR102143385B1 KR 102143385 B1 KR102143385 B1 KR 102143385B1 KR 1020130061815 A KR1020130061815 A KR 1020130061815A KR 20130061815 A KR20130061815 A KR 20130061815A KR 102143385 B1 KR102143385 B1 KR 102143385B1
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KR
South Korea
Prior art keywords
light
obstacle
obstacle detection
cleaning robot
detection module
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
Application number
KR1020130061815A
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English (en)
Korean (ko)
Other versions
KR20130137536A (ko
Inventor
정연규
김동원
소제윤
윤상식
정광진
권준형
Original Assignee
삼성전자주식회사
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 삼성전자주식회사 filed Critical 삼성전자주식회사
Priority to US13/911,525 priority Critical patent/US9020641B2/en
Priority to PCT/KR2013/005020 priority patent/WO2013183955A1/en
Priority to IN162DEN2015 priority patent/IN2015DN00162A/en
Priority to JP2013121193A priority patent/JP6336716B2/ja
Priority to RU2014153133/02A priority patent/RU2591912C1/ru
Priority to CN201310226587.3A priority patent/CN103479307B/zh
Priority to EP13171077.4A priority patent/EP2672287B1/en
Priority to AU2013272382A priority patent/AU2013272382B2/en
Publication of KR20130137536A publication Critical patent/KR20130137536A/ko
Priority to US14/584,267 priority patent/US9846435B2/en
Application granted granted Critical
Publication of KR102143385B1 publication Critical patent/KR102143385B1/ko
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B17/00—Systems with reflecting surfaces, with or without refracting elements
    • G02B17/08—Catadioptric systems
    • G02B17/0856—Catadioptric systems comprising a refractive element with a reflective surface, the reflection taking place inside the element, e.g. Mangin mirrors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B17/00—Systems with reflecting surfaces, with or without refracting elements
    • G02B17/08—Catadioptric systems
    • G02B17/0864—Catadioptric systems having non-imaging properties
    • G02B17/0876—Catadioptric systems having non-imaging properties for light collecting, e.g. for use with a detector
    • G02B17/088—Catadioptric systems having non-imaging properties for light collecting, e.g. for use with a detector specially adapted to receive light from a 360° plane or hemisphere
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B3/00—Simple or compound lenses
    • G02B3/02—Simple or compound lenses with non-spherical faces
    • G02B3/06—Simple or compound lenses with non-spherical faces with cylindrical or toric faces
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Television Receiver Circuits (AREA)
  • Transforming Electric Information Into Light Information (AREA)
  • Electrically Operated Instructional Devices (AREA)
KR1020130061815A 2012-06-07 2013-05-30 장애물 감지 모듈 및 이를 구비한 청소 로봇 Expired - Fee Related KR102143385B1 (ko)

Priority Applications (9)

Application Number Priority Date Filing Date Title
US13/911,525 US9020641B2 (en) 2012-06-07 2013-06-06 Obstacle sensing module and cleaning robot including the same
IN162DEN2015 IN2015DN00162A (enExample) 2012-06-07 2013-06-07
JP2013121193A JP6336716B2 (ja) 2012-06-07 2013-06-07 障害物感知モジュール及びそれを備えた掃除ロボット
RU2014153133/02A RU2591912C1 (ru) 2012-06-07 2013-06-07 Модуль обнаружения препятствий и робот-уборщик, включающий в себя таковой
PCT/KR2013/005020 WO2013183955A1 (en) 2012-06-07 2013-06-07 Obstacle sensing module and cleaning robot including the same
CN201310226587.3A CN103479307B (zh) 2012-06-07 2013-06-07 障碍物感测模块和包括该障碍物感测模块的清洁机器人
EP13171077.4A EP2672287B1 (en) 2012-06-07 2013-06-07 Obstacle sensing module and cleaning robot including the same
AU2013272382A AU2013272382B2 (en) 2012-06-07 2013-06-07 Obstacle sensing module and cleaning robot including the same
US14/584,267 US9846435B2 (en) 2012-06-07 2014-12-29 Obstacle sensing module and cleaning robot including the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020120061059 2012-06-07
KR20120061059 2012-06-07

Publications (2)

Publication Number Publication Date
KR20130137536A KR20130137536A (ko) 2013-12-17
KR102143385B1 true KR102143385B1 (ko) 2020-08-13

Family

ID=49983743

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020130061815A Expired - Fee Related KR102143385B1 (ko) 2012-06-07 2013-05-30 장애물 감지 모듈 및 이를 구비한 청소 로봇

Country Status (4)

Country Link
KR (1) KR102143385B1 (enExample)
AU (1) AU2013272382B2 (enExample)
IN (1) IN2015DN00162A (enExample)
RU (1) RU2591912C1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024014650A1 (ko) * 2022-07-11 2024-01-18 삼성전자 주식회사 진공 청소기 및 그 제어방법

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10085608B2 (en) 2013-12-23 2018-10-02 Lg Electronics Inc. Robot cleaner
KR102335186B1 (ko) * 2014-12-24 2021-12-03 삼성전자주식회사 렌즈 조립체, 이를 이용한 장애물 감지유닛, 및 이를 구비한 이동로봇
CN106926245A (zh) * 2015-12-29 2017-07-07 天津西青区瑞博生物科技有限公司 一种家庭清洁机器人
US10213082B2 (en) * 2016-08-30 2019-02-26 Samsung Electronics Co., Ltd. Robot cleaner
US10962647B2 (en) 2016-11-30 2021-03-30 Yujin Robot Co., Ltd. Lidar apparatus based on time of flight and moving object
KR101868963B1 (ko) * 2016-12-19 2018-06-19 주식회사 카펙발레오 빛을 이용하여 한 방향 이상의 거리를 감지하는 센서의 구조
KR102135559B1 (ko) * 2018-05-16 2020-07-20 주식회사 유진로봇 초소형 3차원 스캐닝 라이다 센서
WO2019039728A1 (ko) * 2017-08-21 2019-02-28 (주)유진로봇 초소형 3차원 스캐닝 라이다 센서
US11579298B2 (en) 2017-09-20 2023-02-14 Yujin Robot Co., Ltd. Hybrid sensor and compact Lidar sensor
US11874399B2 (en) 2018-05-16 2024-01-16 Yujin Robot Co., Ltd. 3D scanning LIDAR sensor
KR102515485B1 (ko) 2018-06-14 2023-03-29 삼성전자주식회사 로봇청소기의 충전 스테이션
CN111240308A (zh) * 2018-11-09 2020-06-05 北京奇虎科技有限公司 重复绕障的检测方法、装置、电子设备及可读存储介质
US11859795B2 (en) * 2022-02-04 2024-01-02 Tennant Company Surface maintenance machine light projection

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002073170A (ja) 2000-08-25 2002-03-12 Matsushita Electric Ind Co Ltd 移動作業ロボット
JP2009047695A (ja) 2007-08-13 2009-03-05 Honeywell Internatl Inc レンジ測定デバイス

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Publication number Priority date Publication date Assignee Title
CA2322419A1 (en) * 1998-03-10 1999-09-16 Siemens Aktiengesellschaft Optical sensor system for detecting the position of an object
KR100483548B1 (ko) * 2002-07-26 2005-04-15 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어 방법
KR20040086940A (ko) * 2003-04-03 2004-10-13 엘지전자 주식회사 이미지센서를 채용한 이동로봇 및 그의 이동거리 측정방법
DE102009023066A1 (de) * 2009-04-01 2010-10-07 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät, insbesondere selbsttätig verfahrbares Bodenstaub-Aufsammelgerät

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002073170A (ja) 2000-08-25 2002-03-12 Matsushita Electric Ind Co Ltd 移動作業ロボット
JP2009047695A (ja) 2007-08-13 2009-03-05 Honeywell Internatl Inc レンジ測定デバイス

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
대한기계학회 논문집 A권. 대한기계학회. 1999.8, 제23권, 제8호, pp1277~1288*

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024014650A1 (ko) * 2022-07-11 2024-01-18 삼성전자 주식회사 진공 청소기 및 그 제어방법

Also Published As

Publication number Publication date
IN2015DN00162A (enExample) 2015-06-12
KR20130137536A (ko) 2013-12-17
AU2013272382A1 (en) 2015-01-15
AU2013272382B2 (en) 2016-03-17
RU2591912C1 (ru) 2016-07-20

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