KR960007469B1 - Apparatus and method for preventing falling-down of cleaning robot - Google Patents
Apparatus and method for preventing falling-down of cleaning robot Download PDFInfo
- Publication number
- KR960007469B1 KR960007469B1 KR94021309A KR19940021309A KR960007469B1 KR 960007469 B1 KR960007469 B1 KR 960007469B1 KR 94021309 A KR94021309 A KR 94021309A KR 19940021309 A KR19940021309 A KR 19940021309A KR 960007469 B1 KR960007469 B1 KR 960007469B1
- Authority
- KR
- South Korea
- Prior art keywords
- height
- threshold
- robot
- cleaning robot
- deviation
- Prior art date
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
- 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
-
- 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
-
- 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)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The method of preventing falling-down of a cleaning robot, including the steps of: measuring each speed of a cleaning robot by means of each speed measuring means after passing the threshold; determining whether a middle part of the robot's main body is positioned horizontally to the threshold; if so, measuring a height of the front and rear direction's threshold and floor; finding a deviation of the height of the front direction and rear direction; comparing the deviation of the height with a variable obtained by multiplying the rear direction's height by a given value; and after comparison, if the deviation of the height is larger than the variable, determining that the robot cannot pass the threshold and moving the robot backward to a start point.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR94021309A KR960007469B1 (en) | 1994-08-27 | 1994-08-27 | Apparatus and method for preventing falling-down of cleaning robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR94021309A KR960007469B1 (en) | 1994-08-27 | 1994-08-27 | Apparatus and method for preventing falling-down of cleaning robot |
Publications (2)
Publication Number | Publication Date |
---|---|
KR960006869A KR960006869A (en) | 1996-03-22 |
KR960007469B1 true KR960007469B1 (en) | 1996-06-03 |
Family
ID=19391305
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR94021309A KR960007469B1 (en) | 1994-08-27 | 1994-08-27 | Apparatus and method for preventing falling-down of cleaning robot |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR960007469B1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100664061B1 (en) * | 2004-12-28 | 2007-01-03 | 엘지전자 주식회사 | Robot with threshold climbing apparatus |
KR20150109598A (en) * | 2014-03-20 | 2015-10-02 | 삼성전자주식회사 | Robot cleaner and method for controlling the same |
CN109991896A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Robot falling prediction method and device and storage device |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107456172B (en) * | 2016-06-06 | 2019-12-31 | 北京小米移动软件有限公司 | Cleaning robot and obstacle crossing method |
-
1994
- 1994-08-27 KR KR94021309A patent/KR960007469B1/en not_active IP Right Cessation
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100664061B1 (en) * | 2004-12-28 | 2007-01-03 | 엘지전자 주식회사 | Robot with threshold climbing apparatus |
KR20150109598A (en) * | 2014-03-20 | 2015-10-02 | 삼성전자주식회사 | Robot cleaner and method for controlling the same |
CN109991896A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Robot falling prediction method and device and storage device |
Also Published As
Publication number | Publication date |
---|---|
KR960006869A (en) | 1996-03-22 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
G160 | Decision to publish patent application | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant | ||
LAPS | Lapse due to unpaid annual fee |