RU2001135970A - Cleaning robot, system with its use and method for reconnecting to an external charger - Google Patents

Cleaning robot, system with its use and method for reconnecting to an external charger

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Publication number
RU2001135970A
RU2001135970A RU2001135970/12A RU2001135970A RU2001135970A RU 2001135970 A RU2001135970 A RU 2001135970A RU 2001135970/12 A RU2001135970/12 A RU 2001135970/12A RU 2001135970 A RU2001135970 A RU 2001135970A RU 2001135970 A RU2001135970 A RU 2001135970A
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Russia
Prior art keywords
cleaning robot
external charger
image
camera
robot
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RU2001135970/12A
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Russian (ru)
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RU2218859C2 (en
Inventor
Джон-гон СОНГ
Ян-йон КО
Кван-су КИМ
Original Assignee
Самсунг Кванджу Электроникс Ко., Лтд.
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Priority claimed from KR10-2001-0020753A external-priority patent/KR100437157B1/en
Priority claimed from KR10-2001-0047288A external-priority patent/KR100437362B1/en
Priority claimed from KR10-2001-0047287A external-priority patent/KR100437159B1/en
Application filed by Самсунг Кванджу Электроникс Ко., Лтд. filed Critical Самсунг Кванджу Электроникс Ко., Лтд.
Publication of RU2001135970A publication Critical patent/RU2001135970A/en
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Publication of RU2218859C2 publication Critical patent/RU2218859C2/en

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Claims (20)

1. Чистящий робот для выполнения работы при беспроводной связи с внешним устройством, содержащий приводную часть для привода множества колес, по меньшей мере одну камеру, установленную на корпусе чистящего робота, для съемки внешнего окружения, контроллер для съемки изображения с помощью камеры для распознавания положения присоединения во время соединения внешнего зарядного устройства и чистящего робота и для хранения отснятого изображения, при этом контроллер управляет приводной частью с тем, чтобы чистящий робот мог перемещаться от внешнего зарядного устройства к назначенному месту при получении чистящим роботом, соединенным с внешним зарядным устройством, сигнала к началу работы, и, кроме того, контроллер отслеживает путь к положению присоединения чистящего робота к внешнему зарядному устройству во время возвращения чистящего робота к внешнему зарядному устройству путем сравнения текущего изображения, воспринимаемого камерой в настоящий момент, с хранящимся изображением положения присоединения чистящего робота к внешнему зарядному устройству.1. A cleaning robot for performing wireless communication with an external device, comprising a drive portion for driving a plurality of wheels, at least one camera mounted on a housing of the cleaning robot for capturing an external environment, a controller for capturing an image using a camera for recognizing an attachment position during the connection of the external charger and the cleaning robot and for storing the captured image, while the controller controls the drive part so that the cleaning robot can move from the external charger to the designated place when the cleaning robot connected to the external charger receives a signal to start working, and, in addition, the controller monitors the path to the attachment position of the cleaning robot to the external charger during the return of the cleaning robot to the external charger the current image perceived by the camera at the moment, with a stored image of the attachment position of the cleaning robot to an external charger. 2. Чистящий робот по п.1, в котором камера содержит верхнюю камеру, установленную на корпусе чистящего робота для съемки объекта, находящегося в вертикальном положении над чистящим роботом по направлению движения, и контроллер получает изображение места над внешним зарядным устройством от верхней камеры чистящего робота, присоединенного к внешнему зарядному устройству, для фиксации изображения и хранения полученного изображения в качестве изображения положения присоединения и для отслеживания пути к внешнему зарядному устройству при возвращении чистящего робота к внешнему зарядному устройству с помощью сравнения изображения, воспринимаемого верхней камерой, с хранящимся изображением положения присоединения.2. The cleaning robot according to claim 1, in which the camera contains an upper camera mounted on the housing of the cleaning robot for shooting an object located in a vertical position above the cleaning robot in the direction of movement, and the controller receives an image of the place above the external charger from the upper camera of the cleaning robot connected to an external charger to capture the image and store the resulting image as an image of the attachment position and to track the path to the external charger when ozvraschenii robot cleaner to the external charger via the comparison image perceived by the upper camera, with a stored image joining positions. 3. Чистящий робот по п.1, дополнительно содержащий определитель уровня заряда для определения уровня заряда аккумулятора, установленного в корпусе с возможностью соединения и разъединения с внешним зарядным устройством, причем контроллер останавливает работу при получении от определителя уровня заряда сигнала о необходимости подзарядки и управляет приводной частью таким образом, чтобы чистящий робот возвратился к внешнему зарядному устройству.3. The cleaning robot according to claim 1, further comprising a charge level determiner for determining a charge level of a battery installed in the housing with the ability to connect and disconnect with an external charger, the controller stopping operation upon receipt of a charge signal from the charge level determinant and controlling the drive part so that the cleaning robot returns to the external charger. 4. Чистящий робот по п.1, в котором контроллер управляет приводной частью таким образом, чтобы робот возвратился к внешнему зарядному устройству при завершении роботом своей работы.4. The cleaning robot according to claim 1, in which the controller controls the drive part so that the robot returns to the external charger when the robot completes its work. 5. Чистящий робот по п.1, дополнительно содержащий фронтальную камеру, установленную на корпусе чистящего робота для съемки изображения перед чистящим роботом в направлении движения; причем контроллер получает изображение места перед внешним зарядным устройством, отснятое фронтальной камерой, сохраняет полученное изображение в качестве изображения положения присоединения чистящего робота к внешнему зарядному устройству и отслеживает путь к внешнему зарядному устройству при возвращении чистящего робота к внешнему зарядному устройству, сравнивая изображение, воспринимаемое фронтальной камерой, с сохраненным изображением положения присоединения чистящего робота к внешнему зарядному устройству.5. The cleaning robot according to claim 1, further comprising a front camera mounted on the housing of the cleaning robot for capturing images in front of the cleaning robot in the direction of movement; moreover, the controller receives the image of the place in front of the external charger, captured by the front camera, saves the resulting image as an image of the attachment position of the cleaning robot to the external charger and tracks the path to the external charger when the cleaning robot returns to the external charger, comparing the image perceived by the front camera , with the saved image of the attachment position of the cleaning robot to the external charger. 6. Система с чистящим роботом, содержащая устройство дистанционного управления, связанное беспроводным способом с чистящим роботом, имеющим приводную часть, образованную множеством колес и по меньшей мере одну камеру, установленную на корпусе чистящего робота для съемки внешнего окружения, устройство дистанционного управления для получения изображения от камеры, для распознавания положения присоединения чистящего робота к внешнему зарядному устройству и для хранения полученного изображения, устройство дистанционного управления для управления приводной частью для возможности передвижения чистящего робота от внешнего зарядного устройства к назначенному месту при получении чистящим роботом, соединенным с внешним зарядным устройством, сигнала к началу работы, устройство дистанционного управления для управления чистящим роботом так, чтобы он мог присоединяться к внешнему зарядному устройству, сравнивая текущее изображение, воспринимаемое камерой с сохраненным изображением положения присоединения чистящего робота к внешнему зарядному устройству.6. A system with a cleaning robot, comprising a remote control device connected wirelessly to a cleaning robot having a drive part formed by a plurality of wheels and at least one camera mounted on the body of the cleaning robot for recording an external environment, a remote control device for receiving an image from cameras, for recognizing the attachment position of the cleaning robot to an external charger and for storing the received image, a remote control for control the drive part to allow the cleaning robot to move from the external charger to the designated place when the cleaning robot connected to the external charger receives a start signal, a remote control device for controlling the cleaning robot so that it can connect to the external charger, comparing the current image perceived by the camera with the saved image of the attachment position of the cleaning robot to an external charger. 7. Система с чистящим роботом по п.6, дополнительно содержащая верхнюю камеру, установленную на корпусе чистящего робота, для съемки изображения в вертикальном направлении над чистящим роботом по направлению движения, при этом устройство дистанционного управления получает от верхней камеры изображение места над внешним зарядным устройством, снятое во время соединения чистящего робота с внешним зарядным устройством, и сохраняет полученное изображение в качестве изображения положения присоединения для подзарядки.7. The system with the cleaning robot according to claim 6, further comprising an upper camera mounted on the housing of the cleaning robot, for capturing an image in a vertical direction above the cleaning robot in the direction of movement, while the remote control device receives from the upper camera an image of a place above an external charger taken during the connection of the cleaning robot with an external charger, and saves the resulting image as an image of the attachment position for recharging. 8. Система с чистящим роботом по п.6, дополнительно содержащая определитель уровня заряда для определения уровня заряда аккумулятора, установленного на чистящем роботе с возможностью соединения и разъединения с внешним зарядным устройством, при этом устройство дистанционного управления останавливает чистящего робота при получении сигнала о необходимости подзарядки, вырабатываемого определителем уровня заряда и передаваемого от чистящего робота.8. The system with the cleaning robot according to claim 6, further comprising a charge level determiner for determining the charge level of the battery installed on the cleaning robot with the ability to connect and disconnect with an external charger, while the remote control device stops the cleaning robot when receiving a signal about the need for recharging generated by the determinant of the charge level and transmitted from the cleaning robot. 9. Система с чистящим роботом по п.6, в которой устройство дистанционного управления управляет чистящим роботом при завершении чистящим роботом своей работы так, чтобы чистящий робот мог вернуться к внешнему зарядному устройству.9. The cleaning robot system of claim 6, wherein the remote control device controls the cleaning robot when the cleaning robot completes its operation so that the cleaning robot can return to the external charger. 10. Внешнее зарядное устройство для подзарядки чистящего робота, связанного с внешним зарядным устройством беспроводным способом при выполнении операций по уборке и имеющего камеру для съемки внешнего окружения, содержащее корпус, на котором установлен вывод источника питания для соединения с выводом для подзарядки на аккумуляторе чистящего робота, направляющий элемент, выполненный в определенном месте на корпусе с возможностью съемки его камерой чистящего робота, и направляющую метку положения подзарядки, выполненную в определенном месте на направляющем элементе с возможностью съемки ее камерой чистящего робота.10. An external charger for recharging the cleaning robot associated with the external charger wirelessly during cleaning operations and having a camera for recording the external environment, comprising a housing on which a power supply terminal is mounted to connect to a terminal for recharging the cleaning robot on the battery, a guide element made in a specific place on the housing with the possibility of shooting a cleaning robot with its camera, and a guide mark for the charging position, made in a certain place on the guide element with the ability to shoot it with a cleaning robot camera. 11. Внешнее зарядное устройство по п.10, корпус которого содержит основание, в котором выполнены пазы для приема части колес чистящего робота, находящегося в положении, когда вывод для подзарядки чистящего робота соединен с выводом источника питания.11. The external charger of claim 10, the housing of which contains a base in which grooves are made for receiving a part of the wheels of the cleaning robot in a position where the terminal for charging the cleaning robot is connected to the terminal of the power source. 12. Внешнее зарядное устройство по п.11, в котором направляющий элемент сформирован на определенной высоте от основания параллельно ему и имеет направляющую метку позиции подзарядки, выполненную на его нижней поверхности.12. The external charger according to claim 11, in which the guide element is formed at a certain height from the base parallel to it and has a guide mark for the charging position, made on its lower surface. 13. Внешнее зарядное устройство по п.12, дополнительно содержащее направляющую стенку, проходящую от основания до определенной высоты, для перемещения чистящего робота на основание и отвода робота с основания, причем направляющий элемент и направляющая метка позиции подзарядки продлены на установленное расстояние, соответствующее расстоянию от направляющей стенки до основания, для возможности съемки камерой чистящего робота.13. The external charger of claim 12, further comprising a guide wall extending from the base to a certain height for moving the cleaning robot to the base and withdrawing the robot from the base, the guide element and the guide mark of the charging position being extended by a predetermined distance corresponding to a distance from guide wall to the base, for the camera to be able to shoot a cleaning robot. 14. Внешнее зарядное устройство по п.13, в котором направляющая метка позиции подзарядки продлена на установленное расстояние в линейном направлении.14. The external charger of claim 13, wherein the guide mark of the charging position is extended by a predetermined distance in a linear direction. 15. Внешнее зарядное устройство по п.11, в котором направляющий элемент сформирован на корпусе вертикально по отношению к корпусу до определенной высоты, и направляющая метка позиции подзарядки выполнена на направляющем элементе в месте, где направляющая метка может быть снята фронтальной камерой чистящего робота.15. The external charger according to claim 11, in which the guide element is formed on the housing vertically with respect to the housing to a certain height, and the guide mark of the charging position is made on the guide element in a place where the guide mark can be removed by the front camera of the cleaning robot. 16. Внешнее зарядное устройство по п.15, в котором направляющий элемент выполнен обращенным к фронтальной камере чистящего робота, находящегося на основании.16. The external charger according to clause 15, in which the guide element is made facing the front camera of the cleaning robot located on the base. 17. Внешнее зарядное устройство по п.15, в котором направляющая метка позиции подзарядки выполнена в форме круга.17. The external charger of claim 15, wherein the guide mark of the charging position is in the shape of a circle. 18. Способ возвращения чистящего робота к внешнему зарядному устройству, включающий следующие шаги: а) при получении чистящим роботом, соединенным с внешним зарядным устройством, сигнала к началу работы, осуществление съемки камерой чистящего робота изображения для распознавания позиции подзарядки, для распознавания чистящим роботом положения присоединения, в котором чистящий робот соединен с внешним зарядным устройством; б) выполнение заданной работы при передвижении чистящего робота и в) при необходимости подзарядки чистящего робота или при завершении заданной работы, отслеживание пути к внешнему зарядному устройству посредством сравнения текущего изображения, воспринимаемого камерой, с сохраненным изображением для распознавания позиции подзарядки, и возвращение чистящего робота к внешнему зарядному устройству.18. A method of returning the cleaning robot to an external charger, comprising the following steps: a) when the cleaning robot connected to the external charger receives a signal to start operation, the camera shoots the image of the cleaning robot to recognize the charging position, and the cleaning robot recognizes the attachment position wherein the cleaning robot is connected to an external charger; b) performing the specified work while moving the cleaning robot; and c) if it is necessary to recharge the cleaning robot or completing the specified work, tracking the path to the external charger by comparing the current image perceived by the camera with the saved image to recognize the charging position, and returning the cleaning robot to external charger. 19. Способ возвращения по п.18, в котором на шаге (а) чистящий робот, соединенный с внешним зарядным устройством, снимает с помощью камеры и сохраняет изображение места над внешним зарядным устройством для распознавания позиции подзарядки.19. The return method according to claim 18, wherein in step (a), a cleaning robot connected to an external charger takes pictures with a camera and saves an image of a place above the external charger to recognize the charging position. 20. Способ возвращения по п.18, в котором на шаге (а) чистящий робот снимает с помощью камеры и сохраняет изображение места перед внешним зарядным устройством для распознавания позиции подзарядки.20. The return method according to claim 18, wherein in step (a), the cleaning robot takes off with the camera and saves the image of the place in front of the external charger to recognize the charging position.
RU2001135970/12A 2001-04-18 2001-12-24 Cleaning robot, system with cleaning robot, outer charging device and method for returning cleaning robot to outer charging device RU2218859C2 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
KR10-2001-0020753A KR100437157B1 (en) 2001-04-18 2001-04-18 Robot cleaner and system and method of rejoining the same with external charging apparatus
KR2001-20753 2001-04-18
KR2001-47288 2001-08-06
KR10-2001-0047288A KR100437362B1 (en) 2001-08-06 2001-08-06 External charging apparatus of robot cleaner and system employing the same
KR10-2001-0047287A KR100437159B1 (en) 2001-08-06 2001-08-06 External charging apparatus and robot cleaner system employing and method of rejoining the same
KR2001-47287 2001-08-06

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RU2001135970A true RU2001135970A (en) 2003-08-27
RU2218859C2 RU2218859C2 (en) 2003-12-20

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CN (2) CN1226013C (en)
AU (1) AU767561B2 (en)
DE (1) DE10200394A1 (en)
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