KR930011955A - 자동주행청소용 로버트의 장애물 감지장치 - Google Patents

자동주행청소용 로버트의 장애물 감지장치 Download PDF

Info

Publication number
KR930011955A
KR930011955A KR1019910025531A KR910025531A KR930011955A KR 930011955 A KR930011955 A KR 930011955A KR 1019910025531 A KR1019910025531 A KR 1019910025531A KR 910025531 A KR910025531 A KR 910025531A KR 930011955 A KR930011955 A KR 930011955A
Authority
KR
South Korea
Prior art keywords
ultrasonic
ultrasonic element
main body
obstacle
automatic driving
Prior art date
Application number
KR1019910025531A
Other languages
English (en)
Other versions
KR940006561B1 (ko
Inventor
이장우
Original Assignee
이헌조
주식회사 금성사
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 이헌조, 주식회사 금성사 filed Critical 이헌조
Priority to KR1019910025531A priority Critical patent/KR940006561B1/ko
Priority to JP4357899A priority patent/JPH0622884A/ja
Priority to US07/998,941 priority patent/US5293955A/en
Publication of KR930011955A publication Critical patent/KR930011955A/ko
Application granted granted Critical
Publication of KR940006561B1 publication Critical patent/KR940006561B1/ko

Links

Classifications

    • 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
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

본 발명은 벽면을 따라 이동하면서 청소를 하는 자동주행 청소용 로버트의 장애물 감지장치에 관한것으로서, 좀더 구체적으로는 초음파 감지 센서의 배치를 달리하여 각 초음파 소자가 초음파의 지향성을 받지않고 항상 벽면과 평행인 상태를 유지하면서 청소를 할 수 있도록 한 것이다.
종래에는 중앙에 설치된 초음파 소자의 양측으로 45도 경사지게 서로 마주보도록 설치되어 있기 때문에 일측의 초음파 소자에서 발사된 초음파가 수신측으로 가지 않고 지향성에 의해 다른측에 설치된 초음파소자의 수신측에 들어가게 되므로 장애물 인식수단에서 오동작을 하게되는 문제점이 있었다.
본 발명은 이를 개선하기 위해, 본체(11)의 양모서리부에 위치된 취부부재(22)와, 상기 취부부재에 본체의정면을 향하도록 고정된 초음파소자(23a)와, 그 일측에 45도 방향으로 기울어져 있는 초음파 소자(23b)와, 또 다른 일측에 상기 초음파소자(23a)와, 90도 측면을 향하고 있는 초음파 소자(23c)와, 본체의 정면과 양측면에 고정된 초음파소자(24)(25)로 구성된 초음파 장애물 센서(23)를 구비하여 상기 초음파 장애물 센서가 장애물을 감지함에 따른 제어수단에 의해 본체의 방향을 전환시킬 수 있도록 하여서 된 것이다.

Description

자동주행청소용 로버트의 장애물 감지장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제9도는 본 발명 장치가 설치된 청소용 로버트의 측면도,
제10도는 제9도의 횡단면도,
제11도는 제9도의 종단면도,
제12도는 본 발명 장치의 회로구성도.

Claims (2)

  1. 본체(11)의 양모서리부에 위치된 취부부재(22)와, 상기 취부부재에 본체의 정면을 향하도록 고정된 초음파소자(23a)와, 그 일측에 45도 방향으로 기울어져 있는 초음파 소자(23b)와, 또 다른 일측에 상기 초음파소자(23a)와 90도 측면을 향하고 있는 초음파 소자(23c)와, 본체의 정면과 양측면에 고정된 초음파소자(24)(25)로 구성된 초음파 장애물 센서(23)를 구비하여 상기 초음파 장애물 센서가 장애물을 감지함에 따른 제어수단에 의해 본체의 방향을 전환시킬 수 있도록 된 자동주행 청소용 로버트의 장애물 감지장치.
  2. 제1항에 있어서, 제어수단은 진행거리 및 주행방향을 판단하는 CPU(26)와, 상기 초음파 장애물 센서에 의해 장애물을 감지하는 초음파회로부(27)와, 바퀴(28)를 구동시키기 위해 모터(19)를 작동시키는 구도회로부(30)와, 상기 구동회로부에 의해 이동되는 바퀴의 회전 데이터를 인식하는 거리 및 방향 검지수단(29)으로 구성된 자동주행 청소용 로버트의 장애물 감지장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019910025531A 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치 KR940006561B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019910025531A KR940006561B1 (ko) 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치
JP4357899A JPH0622884A (ja) 1991-12-30 1992-12-25 自動走行掃除用ロボットの障害物感知装置
US07/998,941 US5293955A (en) 1991-12-30 1992-12-30 Obstacle sensing apparatus for a self-propelled cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019910025531A KR940006561B1 (ko) 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치

Publications (2)

Publication Number Publication Date
KR930011955A true KR930011955A (ko) 1993-07-20
KR940006561B1 KR940006561B1 (ko) 1994-07-22

Family

ID=19327039

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910025531A KR940006561B1 (ko) 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치

Country Status (3)

Country Link
US (1) US5293955A (ko)
JP (1) JPH0622884A (ko)
KR (1) KR940006561B1 (ko)

Families Citing this family (123)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0564661B1 (en) * 1991-11-05 1997-09-03 Seiko Epson Corporation Micro-robot
KR940004375B1 (ko) * 1992-03-25 1994-05-23 삼성전자 주식회사 자주식 청소기의 구동방법
BE1008470A3 (fr) * 1994-07-04 1996-05-07 Colens Andre Dispositif et systeme automatique de depoussierage de sol et engin y adapte.
US5713586A (en) * 1995-01-25 1998-02-03 Haller; William R. Optically responsive mobility apparatus
US5634237A (en) * 1995-03-29 1997-06-03 Paranjpe; Ajit P. Self-guided, self-propelled, convertible cleaning apparatus
KR0156722B1 (ko) * 1995-08-08 1998-11-16 김광호 로보트의 위치인식장치 및 그 제어방법
JPH09263140A (ja) * 1996-03-27 1997-10-07 Minolta Co Ltd 無人作業車
US6226830B1 (en) 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
US5988306A (en) * 1997-08-29 1999-11-23 Yazaki Industrial Chemical Co., Ltd. Automatically guided vehicle
SG104252A1 (en) * 1998-03-27 2004-06-21 Yong Sang Yap Electrical mop
US6941199B1 (en) 1998-07-20 2005-09-06 The Procter & Gamble Company Robotic system
GB2344750B (en) 1998-12-18 2002-06-26 Notetry Ltd Vacuum cleaner
JP3803291B2 (ja) * 1999-06-08 2006-08-02 ジョンソンディバーシー・インコーポレーテッド 床清掃装置
EP1232424A1 (en) 1999-11-18 2002-08-21 The Procter & Gamble Company Home cleaning robot
JP2001195930A (ja) * 2000-01-11 2001-07-19 Auto Network Gijutsu Kenkyusho:Kk ワイヤーハーネスの組み立てラインと作業台車
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US7155308B2 (en) 2000-01-24 2006-12-26 Irobot Corporation Robot obstacle detection system
US8788092B2 (en) * 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) * 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6481515B1 (en) * 2000-05-30 2002-11-19 The Procter & Gamble Company Autonomous mobile surface treating apparatus
US7571511B2 (en) * 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US6883201B2 (en) 2002-01-03 2005-04-26 Irobot Corporation Autonomous floor-cleaning robot
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US6810305B2 (en) 2001-02-16 2004-10-26 The Procter & Gamble Company Obstruction management system for robots
EP2287696B1 (en) 2001-06-12 2018-01-10 iRobot Corporation Method and system for multi-code coverage for an autonomous robot
US7663333B2 (en) * 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
EP1427891B9 (en) 2001-08-24 2010-03-10 David W. Young Apparatus and methods for cleaning lines on a playing surface
US9128487B2 (en) 2001-08-24 2015-09-08 David Wright Young Apparatus for cleaning lines on a playing surface and associated methods, handle enhancements
US7245994B2 (en) * 2001-08-24 2007-07-17 David Wright Young Apparatus for cleaning lines on a playing surface and associated methods, enhancements
US7957859B2 (en) * 2001-08-24 2011-06-07 David Wright Young Methods for cleaning lines on a game playing surface
IL145680A0 (en) 2001-09-26 2002-06-30 Friendly Robotics Ltd Robotic vacuum cleaner
AU2002341358A1 (en) * 2001-09-26 2003-04-07 Friendly Robotics Ltd. Robotic vacuum cleaner
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
SE525499C2 (sv) * 2002-03-12 2005-03-01 Htc Sweden Ab Anordning vid en mobil maskin för slipning av golvytor
DE10231386B4 (de) * 2002-07-08 2004-05-06 Alfred Kärcher Gmbh & Co. Kg Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
US20040031121A1 (en) * 2002-08-14 2004-02-19 Martin Frederick H. Disposable dust collectors for use with cleaning machines
US6814171B2 (en) * 2002-08-30 2004-11-09 Motorola, Inc. Automotive drive assistance system and method
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US20040200505A1 (en) * 2003-03-14 2004-10-14 Taylor Charles E. Robot vac with retractable power cord
US20050010331A1 (en) * 2003-03-14 2005-01-13 Taylor Charles E. Robot vacuum with floor type modes
US20040211444A1 (en) * 2003-03-14 2004-10-28 Taylor Charles E. Robot vacuum with particulate detector
US7805220B2 (en) * 2003-03-14 2010-09-28 Sharper Image Acquisition Llc Robot vacuum with internal mapping system
US7801645B2 (en) * 2003-03-14 2010-09-21 Sharper Image Acquisition Llc Robotic vacuum cleaner with edge and object detection system
JP2004275468A (ja) * 2003-03-17 2004-10-07 Hitachi Home & Life Solutions Inc 自走式掃除機およびその運転方法
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US20060020369A1 (en) * 2004-03-11 2006-01-26 Taylor Charles E Robot vacuum cleaner
US7720554B2 (en) 2004-03-29 2010-05-18 Evolution Robotics, Inc. Methods and apparatus for position estimation using reflected light sources
KR100544480B1 (ko) * 2004-05-12 2006-01-24 삼성광주전자 주식회사 로봇 청소기
SG174000A1 (en) 2004-06-24 2011-09-29 Irobot Corp Remote control scheduler and method for autonomous robotic device
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
KR100656701B1 (ko) * 2004-10-27 2006-12-13 삼성광주전자 주식회사 로봇청소기 시스템 및 외부충전장치 복귀 방법
WO2006058125A2 (en) * 2004-11-23 2006-06-01 S. C. Johnson & Son, Inc. Device and methods of providing air purification in combination with cleaning of surfaces
US7389156B2 (en) * 2005-02-18 2008-06-17 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
EP2149324B1 (en) * 2005-02-18 2011-09-07 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US7620476B2 (en) * 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US7456596B2 (en) 2005-08-19 2008-11-25 Cisco Technology, Inc. Automatic radio site survey using a robot
EP2816434A3 (en) 2005-12-02 2015-01-28 iRobot Corporation Autonomous coverage robot
ATE534941T1 (de) 2005-12-02 2011-12-15 Irobot Corp Abdeckungsrobotermobilität
ES2706729T3 (es) 2005-12-02 2019-04-01 Irobot Corp Sistema de robot
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
ES2423296T3 (es) 2005-12-02 2013-09-19 Irobot Corporation Robot modular
WO2007109627A2 (en) 2006-03-17 2007-09-27 Irobot Corporation Lawn care robot
EP2023788B1 (en) 2006-05-19 2011-09-07 iRobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8121730B2 (en) * 2006-10-02 2012-02-21 Industrial Technology Research Institute Obstacle detection device of autonomous mobile system
KR20140123110A (ko) 2007-05-09 2014-10-21 아이로보트 코퍼레이션 소형 자율 커버리지 로봇
EP2045624A1 (en) * 2007-10-01 2009-04-08 Samsung Electronics Co., Ltd. Ultrasonic distance sensor and robot cleaner using the same
US8774970B2 (en) 2009-06-11 2014-07-08 S.C. Johnson & Son, Inc. Trainable multi-mode floor cleaning device
KR20140134337A (ko) 2010-02-16 2014-11-21 아이로보트 코퍼레이션 진공 브러쉬
WO2012099694A1 (en) 2010-12-30 2012-07-26 Irobot Corporation Coverage robot navigation
DE102011051729A1 (de) * 2011-07-11 2013-01-17 Alfred Kärcher Gmbh & Co. Kg Selbstfahrendes Bodenreinigungsgerät
JP6202544B2 (ja) 2012-08-27 2017-09-27 アクティエボラゲット エレクトロラックス ロボット位置決めシステム
AU2013317738B2 (en) 2012-09-21 2015-05-07 Irobot Corporation Proximity sensing on mobile robots
US9282867B2 (en) 2012-12-28 2016-03-15 Irobot Corporation Autonomous coverage robot
US9483055B2 (en) 2012-12-28 2016-11-01 Irobot Corporation Autonomous coverage robot
CN105101855A (zh) 2013-04-15 2015-11-25 伊莱克斯公司 具有伸出的侧刷的机器人真空吸尘器
CN110448222A (zh) 2013-04-15 2019-11-15 伊莱克斯公司 机器人真空吸尘器
CN103284656A (zh) * 2013-06-22 2013-09-11 苏州金威特工具有限公司 一种灯光指示垃圾箱剩余容量的吸尘器
JP2017502371A (ja) 2013-12-19 2017-01-19 アクチエボラゲット エレクトロルックス 掃除領域の優先順位付け
EP3082542B1 (en) 2013-12-19 2018-11-28 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
WO2015090398A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
WO2015090403A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
EP3082537B1 (en) 2013-12-19 2020-11-18 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
ES2656664T3 (es) 2013-12-19 2018-02-28 Aktiebolaget Electrolux Dispositivo robótico de limpieza con función de registro del perímetro
KR102130190B1 (ko) 2013-12-19 2020-07-03 에이비 엘렉트로룩스 로봇 청소 장치
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
KR102125334B1 (ko) * 2014-01-06 2020-06-22 삼성전자주식회사 로봇 청소기 및 그 제어방법
CN106462161B (zh) 2014-03-31 2020-03-06 美国iRobot公司 自主型移动机器人
EP3166463A1 (de) * 2014-07-07 2017-05-17 Carl Freudenberg KG Verfahrbare vorrichtung
ES2681802T3 (es) 2014-07-10 2018-09-17 Aktiebolaget Electrolux Método para detectar un error de medición en un dispositivo de limpieza robotizado
CN106659345B (zh) 2014-09-08 2019-09-03 伊莱克斯公司 机器人真空吸尘器
CN106659344B (zh) 2014-09-08 2019-10-25 伊莱克斯公司 机器人真空吸尘器
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US9510505B2 (en) 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
CN106998980B (zh) 2014-12-10 2021-12-17 伊莱克斯公司 使用激光传感器检测地板类型
CN107072454A (zh) 2014-12-12 2017-08-18 伊莱克斯公司 侧刷和机器人吸尘器
US9420741B2 (en) 2014-12-15 2016-08-23 Irobot Corporation Robot lawnmower mapping
KR102326401B1 (ko) 2014-12-16 2021-11-16 에이비 엘렉트로룩스 로봇 청소 장치를 위한 청소 방법
JP6879478B2 (ja) 2014-12-16 2021-06-02 アクチエボラゲット エレクトロルックス ロボット掃除機のための経験ベースロードマップ
US9538702B2 (en) 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
WO2016165772A1 (en) 2015-04-17 2016-10-20 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
US11115798B2 (en) 2015-07-23 2021-09-07 Irobot Corporation Pairing a beacon with a mobile robot
US10034421B2 (en) 2015-07-24 2018-07-31 Irobot Corporation Controlling robotic lawnmowers
WO2017036532A1 (en) 2015-09-03 2017-03-09 Aktiebolaget Electrolux System of robotic cleaning devices
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
US10459063B2 (en) 2016-02-16 2019-10-29 Irobot Corporation Ranging and angle of arrival antenna system for a mobile robot
KR102588486B1 (ko) 2016-03-15 2023-10-11 에이비 엘렉트로룩스 로봇 청소 장치 및 로봇 청소 장치에서의 절벽 검출 실시 방법
US11122953B2 (en) 2016-05-11 2021-09-21 Aktiebolaget Electrolux Robotic cleaning device
US10882186B1 (en) 2017-05-11 2021-01-05 AI Incorporated Method for efficient operation of mobile robotic devices
CN110621208A (zh) 2017-06-02 2019-12-27 伊莱克斯公司 检测机器人清洁设备前方的表面的高度差的方法
EP3651564B1 (en) 2017-07-14 2022-05-18 iRobot Corporation Blade assembly for a grass cutting mobile robot
EP3678902B1 (en) 2017-09-07 2023-06-21 SharkNinja Operating LLC Robotic cleaner
JP6989210B2 (ja) 2017-09-26 2022-01-05 アクチエボラゲット エレクトロルックス ロボット清掃デバイスの移動の制御
CN107932525A (zh) * 2017-12-01 2018-04-20 王冬冬 智控式微型清洁机器人
CA3108198C (en) 2018-08-01 2022-12-06 Sharkninja Operating Llc Robotic vacuum cleaner
CN110547732A (zh) * 2019-08-16 2019-12-10 湖南格兰博智能科技有限责任公司 一种扫地机障碍物检测装置以及检测脱困方法
CN113440049B (zh) * 2020-03-25 2023-06-09 尚科宁家(中国)科技有限公司 一种清洁机器人及其控制方法
CN113531806B (zh) * 2021-06-28 2022-08-19 青岛海尔空调器有限总公司 用于控制空调的方法、装置及空调

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2745650B2 (ja) * 1989-03-15 1998-04-28 松下電器産業株式会社 超音波障害物センサーとこれを具備する自律型移動ロボット

Also Published As

Publication number Publication date
KR940006561B1 (ko) 1994-07-22
JPH0622884A (ja) 1994-02-01
US5293955A (en) 1994-03-15

Similar Documents

Publication Publication Date Title
KR930011955A (ko) 자동주행청소용 로버트의 장애물 감지장치
KR950005270A (ko) 청소기와 그 제어방법
KR970067035A (ko) 차량의 위치를 테스트하기 위한 측정 시스템 및 그를 위한 감지 기구
TW363166B (en) Input device
SE8008372L (sv) Anordning for metning av ultraljudshastigheter genom en bana i rorelse
KR900016900A (ko) 데이터 판독장치
ES550852A0 (es) Un sistema ultrasonico de deteccion de movimiento con autodiagnostico.
KR910021595A (ko) 초음파장해물센서
JPH10227768A (ja) 雨滴検出装置
SE8602528L (sv) Navigeringsanordning
JPS5952763A (ja) 車両用雨滴センサ
JPS5956580U (ja) 車両の障害物探知装置
FR2700958B3 (fr) Dispositif de liposuccion à ultra-sons.
JPS59192451U (ja) ワイパ制御装置
KR920001206A (ko) 펄스위치계측형 계기구동회로
JPH0521121Y2 (ko)
FR2654520B1 (fr) Dispositif de detection d'objets par capteurs ultrasoniques.
KR970075917A (ko) 각속도 검출장치
KR940015477A (ko) 전방위 압전 회전각 센서
FR2720164B1 (fr) Dispositif de détection de mouvement de type ultrasonore Doppler.
KR970047916A (ko) 초음파를 이용한 차량 운행용 노면 상태 측정 장치
JPH04163250A (ja) 車両用障害物検出装置
JPH0555089U (ja) 超音波式側方距離測定装置
FR2606138B1 (fr) Dispositif de mesure de largeur d'une zone de roulement sur une voie
KR970062572A (ko) 공기조화기의 거리감지센서 위치감지장치 및 방법

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
AMND Amendment
E601 Decision to refuse application
J2X1 Appeal (before the patent court)

Free format text: APPEAL AGAINST DECISION TO DECLINE REFUSAL

G160 Decision to publish patent application
B701 Decision to grant
GRNT Written decision to grant
LAPS Lapse due to unpaid annual fee