KR960007469B1 - Apparatus and method for preventing falling-down of cleaning robot - Google Patents

Apparatus and method for preventing falling-down of cleaning robot Download PDF

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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
Application number
KR94021309A
Other languages
Korean (ko)
Other versions
KR960006869A (en
Inventor
Sang-Woon Jung
Original Assignee
Lg Electronics Inc
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 Lg Electronics Inc filed Critical Lg Electronics Inc
Priority to KR94021309A priority Critical patent/KR960007469B1/en
Publication of KR960006869A publication Critical patent/KR960006869A/en
Application granted granted Critical
Publication of KR960007469B1 publication Critical patent/KR960007469B1/en

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

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.
KR94021309A 1994-08-27 1994-08-27 Apparatus and method for preventing falling-down of cleaning robot KR960007469B1 (en)

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)

* Cited by examiner, † Cited by third party
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 The method, apparatus and storage device of robot tumble anticipation

Families Citing this family (1)

* Cited by examiner, † Cited by third party
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

Cited By (3)

* Cited by examiner, † Cited by third party
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 The method, apparatus and storage device of robot tumble anticipation

Also Published As

Publication number Publication date
KR960006869A (en) 1996-03-22

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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