WO2006073248A1 - A non-contact close obstacle detection device for a cleaning robot - Google Patents

A non-contact close obstacle detection device for a cleaning robot Download PDF

Info

Publication number
WO2006073248A1
WO2006073248A1 PCT/KR2005/004654 KR2005004654W WO2006073248A1 WO 2006073248 A1 WO2006073248 A1 WO 2006073248A1 KR 2005004654 W KR2005004654 W KR 2005004654W WO 2006073248 A1 WO2006073248 A1 WO 2006073248A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
phase
signal
obstacle
signals
sensor
Prior art date
Application number
PCT/KR2005/004654
Other languages
French (fr)
Inventor
Kyung Chul Shin
Shin Kim
No Soo Lee
You Shin Kim
Jae Young Lee
Original Assignee
Yujin Robotics Co., Ltd.
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

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/936Lidar systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87Combinations of systems using electromagnetic waves other than radio waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483Details of pulse systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/42Simultaneous measurement of distance and other co-ordinates

Abstract

Provided is a non-contact obstacle detection device for a cleaning robot for driving a plurality of IR sensors using a single oscillator, driver, amplifier and filter through a time division method. The non-contact obstacle detection circuit for a cleaning robot, which senses an obstacle to operate while avoiding a collision with the obstacle and includes n IR sensors (n is a natural number), comprises: a transmission controller 10 for controlling the n IR sensors using a time division method such that the n IR sensors sequentially output infrared rays; a reception controller 12 operated in cooperation with the transmission controller 10 to sense the sequentially output infrared rays to detect whether or not an obstacle exists; and a sensor 14 for outputting infrared rays to sequentially sense the obstacle using n sensor driving signals for the n sensors and sequentially reading infrared rays from the n sensors using n-shifted signal to sense whether or not the obstacle exists. The transmission controller 10 comprises: a counter 102 for dividing a clock signal having a predetermined frequency and counting a first phase signal Phase A that is the divided pulse signal to output n count signals; a decoder 104 for decoding the count signals output from the counter 102 into n signals and outputting n sensor operation control signals; a logic AND 106 for performing a logic product (logic- AND) operation for the n sensor operation control signals output from the decoder 104 and the clock signal to output the n sensor driving signals at the rising edge of the first phase signal; and a reception control signal generator 108 for generating a load signal RCLK for loading data in a shift register 124 based on the first phase signal Phase A and the count signals and generating a shift signal SRCLK for a shift command of the shift register 124 based on a second phase signal Phase B whose phase is delayed such that the first and second phase signals have a phase difference therebetween. The reception controller 12 comprises: a latch 122 for latching the first phase signal Phase A and a sensor driving signal IR_SIG; and the shift register 124 for reading a latched signal, loading the latched signal using the load signal RCLK, reading data at the rising edge of the second phase signal Phase B using the shift signal SRCLK and shifting the data by n at the falling edge of the first phase signal Phase A.

Description

Description

A NON-CONTACT CLOSE OBSTACLE DETECTION DEVICE

FOR A CLEANING ROBOT

Technical Field

[1] The present invention relates to a non-contact close obstacle detection device for a cleaning robot carrying out cleaning along a predetermined route, and more particularly, a non-contact close obstacle detection device for a cleaning robot, which drives a plurality of IR sensors using a single oscillator, a driver, an amplifier and a filter through a time division method.

[2]

Background Art

[3] Cleaning robots are developed and put on the market recently, which are constructed by combining a cleaner with a sensing technique and operated by various algorithms. A conventional cleaning robot transmits ultrasonic signals used in submarines to detect an obstacle placed on a route and operates while avoiding a collision with the obstacle. Another cleaning robot evades a collision with an obstacle by sensing the obstacle using an infrared (IR) sensor.

[4] Obstacle sensing capability is very important to a moving robot. The moving robot must have capability of sensing an obstacle in order to avoid a collision and recognize the position thereof. To sense an obstacle, various kinds of sensors are used.

[5] There are various obstacle sensors. Among these, a non-contact close obstacle sensor that senses a close obstacle placed in less than several cm is most basic and serves as the last safety valve. Non-contact sensors for sensing a close obstacle include an ultrasonic sensor, an IR sensor, a laser sensor, a PSD sensor, a magnetic capacity sensor, hall sensor, a camera and so on, which have their own characteristics and merits and demerits. Most of these sensors have a narrow sensing region so that they use a plurality of sensors. Using a plurality of sensors is costly because most of the sensors are expensive. However, this is inevitable for the stability of a robot. Among the aforementioned sensors, the IR sensor is most inexpensive and simply constructed so that most of moving robots use the IR sensor as a close obstacle sensor.

[6] The IR sensor includes a transmitter for transmitting an IR signal and a receiver for receiving a reflected IR signal and judges whether an obstacle exists according to whether there is light reflected by the obstacle. In general, the transmitter frequency- modulates a signal such that the signal does not interfere with external light and includes an oscillator and a driver, as shown in FIG. 1. Furthermore, the transmitter includes a very large amplifier and a narrow-band filter to receive a small signal from the receiver.

[7] The IR sensor has a very narrow operating range because of characteristic of infrared rays. Thus, when a moving robot uses the IR sensor, a large number of IR sensors should be set in the robot. This requires a large number of oscillators, drivers, amplifiers and filters constituting transmitters and receivers of the IR sensors, resulting in an increase in the cost of the moving robot.

[8]

Disclosure of Invention Technical Problem

[9] Accordingly, the present invention has been made to solve the aforementioned problem occurring in the prior art, and it is an object of the present invention to provide a non-contact close obstacle detection device for a cleaning robot, which drives a plurality of IR sensors using a single oscillator, a driver, an amplifier and a filter through a time division method.

[10]

[H]

Technical Solution

[12] To accomplish the above object, according to an aspect of the present invention, there is provided a non-contact obstacle detection device for a cleaning robot, which senses an obstacle to operate while avoiding a collision with the obstacle and includes n IR sensors (n is a natural number), comprising: a transmission controller 10 for controlling the n IR sensors using a time division method such that the n IR sensors sequentially output infrared rays; a reception controller 12 operated in cooperation with the transmission controller 10 to sense the sequentially output infrared rays to detect whether or not an obstacle exists; and a sensor 14 for outputting infrared rays to sequentially sense the obstacle using n sensor driving signals for the n sensors and sequentially reading infrared rays from the n sensors using n-shifted signal to sense whether or not the obstacle exists.

[13] The transmission controller 10 comprises: a counter 102 for dividing a clock signal having a predetermined frequency and counting a first phase signal Phase A that is the divided pulse signal to output n count signals; a decoder 104 for decoding the count signals output from the counter 102 into n signals and outputting n sensor operation control signals; a logic AND 106 for performing a logic product (logic- AND) operation for the n sensor operation control signals output from the decoder 104 and the clock signal to output the n sensor driving signals at the rising edge of the first phase signal; and a reception control signal generator 108 for generating a load signal RCLK for loading data in a shift register 124 based on the first phase signal Phase A and the count signals and generating a shift signal SRCLK for a shift command of the shift register 124 based on a second phase signal Phase B whose phase is delayed such that the first and second phase signals have a phase difference therebetween.

[14] The reception controller 12 comprises: a latch 122 for latching the first phase signal Phase A and a sensor driving signal IR_SIG; and the shift register 124 for reading a latched signal, loading the latched signal using the load signal RCLK, reading data at the rising edge of the second phase signal Phase B using the shift signal SRCLK and shifting the data by n at the falling edge of the first phase signal Phase A.

[15] The sensor includes a light-emitting diode for outputting infrared rays to sequentially sense an obstacle using the n sensor driving signals for the n sensors, and a light-receiving transistor disposed oriented such that a receiving angle has a predetermined angle to a radiating angle of the infrared rays output from the light-emitting diode.

[16] Preferably, the first phase signal Phase A is used to transmit infrared rays, the second phase signal Phase B is used to receive infrared rays, and the first phase signal Phase A is counted by the counter 102 and indexed.

[17]

Advantageous Effects

[18] The non-contact obstacle detection device for a cleaning robot according to the present invention can drive a plurality of IR sensors using one driver without using an oscillator or an amplifier for each IR sensor. Accordingly, the cost of components of the IR sensors and consumption power required for driving the IR sensors can be reduced. Furthermore, an operation of tuning an amplifier is performed only once, and thus the manufacturing process of the detection device can be simplified and productivity can be remarkably improved.

[19]

Brief Description of the Drawings

[20] Further objects and advantages of the invention can be more fully understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[21] FIG. 1 is a block diagram of a non-contact obstacle detection device for a cleaning robot according to an embodiment of the present invention;

[22] FIG. 2 is a circuit diagram of a transmission controller 10 of FIG. 1 according to an embodiment of the present invention;

[23] FIG. 3 is a circuit diagram of a reception controller 12 of FIG. 1 according to an embodiment of the present invention;

[24] FIGS. 4 and 5 are waveform diagrams for explaining the operation of the circuit of FIG. 2;

[25] FIG. 6 is a circuit diagram of a circuit that can be added to block external light according to an embodiment of the present invention; and

[26] FIG. 7 is a circuit diagram of a receiving circuit of a sensor 14 according to an embodiment of the present invention.

[27]

Best Mode for Carrying Out the Invention

[28] The present invention will now be described in detail in connection with preferred embodiments with reference to the accompanying drawings.

[29] FIG. 1 is a block diagram of a non-contact obstacle detection device for a cleaning robot according to an embodiment of the present invention and FIG. 2 is a circuit diagram of a transmission controller 10 of FIG. 1 according to an embodiment of the present invention. FIG. 3 is a circuit diagram of a reception controller 12 of FIG. 1 according to an embodiment of the present invention and FIGS. 4 and 5 are waveform diagrams for explaining the operation of the circuit of FIG. 2.

[30] Referring to FIGS. 1 and 2, the non-contact obstacle detection device for a cleaning robot according to the present invention senses an obstacle to operate while evading a collision with the obstacle. The non-contact obstacle detection device for a cleaning robot has n IR sensors (n is a natural number).

[31] The non-contact obstacle detection device includes a transmission controller 10 for controlling the n IR sensors using a time division method such that the n IR sensors sequentially output infrared rays, a reception controller 12 operated in cooperation with the transmission controller 10 to sense the sequentially output infrared rays to detect whether or not an obstacle exists, and a sensor 14 for outputting infrared rays to sequentially sense the obstacle using n sensor driving signals for the n sensors and sequentially reading infrared rays from the n sensors using an n-shifted signal to sense whether or not the obstacle exists,

[32] In this embodiment, n is 8, a counter which will be explained later is an octal counter, a decoder which will be explained later is a 3:8 decoder and a shift register which will be explained later is an 8-shift register. The non-contact obstacle detection device uses a clock signal such that the clock signal oscillates at a predetermined frequency to transmit infrared rays in order to prevent disturbance of sunlight.

[33] The transmission controller 10 includes a counter 102, and a decoder 104. The counter 102 divides a clock signal having a predetermined frequency and counts a first phase signal Phase A that is the divided pulse signal to output n count signals. That is, the first phase signal Phase A is used to transmit infrared rays and a second phase signal Phase B is used to receive infrared rays. The first phase signal Phase A is counted by the counter 102 and the counting order is indexed to decide the order of operating sensors. The decoder 104 decodes the count signals output from the counter 102 into n signals to output n sensor operation control signals.

[34] A logic AND 106 logic- ANDs the n sensor operation control signals output from the decoder 104 and the clock signal and sequentially outputs the n sensor driving signals at the rising edge (A) of the first phase signal. That is, the logic AND 106 ANDs the first phase signal Phase A and the clock signal to output a burst signal (or firing signal) used as an input of a driver to actually transmit infrared rays.

[35] A reception control signal generator 108 generates a load signal RCLK for loading data in a shift register 124 based on the first phase signal Phase A and the count signals and generates a shift signal SRCLK for a shift command of the shift register 124 based on the second phase signal Phase B whose phase is delayed such that it has a phase difference of 90 from the first phase signal Phase A. The second phase signal Phase B can be easily formed by inputting the first phase signal Phase A to a flip-flop (not shown).

[36] A latch 122 of the reception controller 12 latches the first phase signal Phase A and a sensor driving signal IR_SIG. A shift register 124 receives a latched signal. The shift register 124 loads the latched signal using the load signal, reads data at the rising edge (B) of the second phase signal Phase B and shifts the data by n at the falling edge (C) of the first phase signal A.

[37] That is, the burst signal or firing signal for light emission of the IR sensor is composed of 8 clock pulses of a clock signal. The number of clock pulses constituting the clock signal is determined by sensitivity of an amplifier. In the case that the amplifier performs measurement with the threshold of the amplitude of a signal, the number of clock pulses of the burst signal will be determined by a time constant of a charging condenser and a clock frequency. The first and second phase signals Phase A and Phase B, which are control signals for time division, respectively generate 8 pulses while the burst signal is output. Here, the burst signal is generated by the counter 102 (202) and decoder 104 (204) for each sensor at the rising edge and falling edge of the first and second phase signals Phase A and Phase B and the shift register 124 (224) carries out its shifting operation such that 8 sensors are operated in time division.

[38] The decoder is operated using the counted value at the rising edge (A) of the first phase signal Phase A to output the firing signal to a desired IR sensor, and the shift register reads data at the rising edge (B) of the second phase signal Phase B and shifts the data at the falling edge (C) of the first phase signal Phase A. When the value of a D-latch for reading a signal input at the falling edge (D) of the second phase signal Phase B is cleared and overflow of 8 counters occurs, information of all the sensors has been obtained and thus data is sent to a buffer. [39] The sensor 14 includes a light-emitting diode (not shown) for outputting infrared rays to sequentially sense an obstacle using the n sensor driving signals for the n sensors and a light-receiving transistor (not shown) disposed oriented such that a receiving angle has a predetermined angle to a radiating angle of the infrared rays output from the light-emitting diode. Preferably, the sensor is constructed such that the light-emitting diode and the light-receiving diode are arranged in parallel and they have an angle therebetween because a sensible length is considerably varied with characteristic of a reflector. The sensible length is varied with the angle and the distance between two sensors. For example, when the angle is 40 and the distance is 9mm, maximum 5cm can be sensed though there is a deviation according to the material of the reflector. To remove the deviation, the setting depth of each sensor is increased.

[40] FIG. 6 is a circuit diagram of a circuit that can be added to block external light according to an embodiment of the present invention. When there is severe interference due to external light such as sunlight so that a reflected signal is not detected and a DC component caused by disturbance is saturated so that it is not sensed, a desired signal can be obtained and the DC component can be removed using the circuit of FIG. 6. Because the desired signal does not include the DC component, a primary amplifier can be constructed only using a resistor without setting a condenser in a feedback stage. Although a secondary amplifier having the same structure as the primary amplifier can be placed behind the primary amplifier, the present invention uses LM567 such that it can serve as a narrow band filter and an amplifier. When LM567 is used, a clock signal can be generated without using a separate oscillating circuit, as shown in FIG. 7. FIG. 7 is a circuit diagram of a receiving circuit of the sensor 14 according to an embodiment of the present invention. An input current approximately proportional to the quantity of light can be obtained using photo- transistors of an input part. Photo-diodes can replace the photo-transistors. Here, a voltage proportional to the quantity of light can be obtained through resistors connected to the emitters of the transistors Tr.l, Tr2,..., Tr.n at the rising edge A of the first phase signal Phase A. The quantity of light includes the quantity of modulated light corresponding to an actual signal source and the quantity of light caused by disturbance, and thus only a desired signal can be obtained at the rising edge B of the second phase signal Phase B through a DC block.

[41] As described above, the non-contact obstacle detection device for a cleaning robot according to the present invention can drive a plurality of IR sensors using a single driving circuit without using an oscillator or an amplifier for each IR sensor. Furthermore, circuits used for time division are constructed of simple logic gates and thus they can be easily constructed using EPLD or programmable FPGA (Field-Programmable Gate Array). Most of circuits recently developed can be easily integrated because they use these ICs. Moreover, the present invention can reduce the cost of components of the detection device and decrease consumption power required for driving sensors by the number of the sensors. Furthermore, an operation of tuning an amplifier can be performed only once and thus the manufacturing process can be simplified.

[42] While the present invention has been described with reference to the particular illustrative embodiments, it is not to be restricted by the embodiments but only by the appended claims. It is to be appreciated that those skilled in the art can change or modify the embodiments without departing from the scope and spirit of the present invention.

Claims

Claims
[1] A non-contact obstacle detection device for a cleaning robot, which senses an obstacle to operate while avoiding a collision with the obstacle and includes n infrared ray (IR) sensors (n is a natural number), comprising: a transmission controller 10 for controlling the n IR sensors using a time division method such that the n IR sensors sequentially output infrared rays; a reception controller 12 operated in cooperation with the transmission controller 10 to sense the sequentially output infrared rays to detect whether or not an obstacle exists; and a sensor 14 for outputting infrared rays to sequentially sense the obstacle using n sensor driving signals for the n sensors and sequentially reading infrared rays from the n sensors using n-shifted signal to sense whether or not the obstacle exists, wherein the transmission controller 10 comprises: a counter 102 for dividing a clock signal having a predetermined frequency and counting a first phase signal Phase A that is the divided pulse signal to output n count signals; a decoder 104 for decoding the count signals output from the counter 102 into n signals and outputting n sensor operation control signals; a logic AND 106 for performing a logic product (logic AND) operation for the n sensor operation control signals output from the decoder 104 and the clock signal to output the n sensor driving signals at the rising edge of the first phase signal; and a reception control signal generator 108 for generating a load signal RCLK for loading data in a shift register 124 based on the first phase signal Phase A and the count signals and generating a shift signal SRCLK for a shift command of the shift register 124 based on a second phase signal Phase B whose phase is delayed such that the first and second phase signals have a phase difference therebetween, and the reception controller 12 comprises: a latch 122 for latching the first phase signal Phase A and a sensor driving signal IR_SIG; and the shift register 124 for reading a latched signal, loading the latched signal using the load signal RCLK, reading data at the rising edge of the second phase signal Phase B using the shift signal SRCLK and shifting the data by n at the falling edge of the first phase signal Phase A.
[2] The non-contact obstacle detection device for a cleaning robot as claimed in claim 1, wherein the sensor comprises: a light-emitting diode for outputting infrared rays to sequentially sense an obstacle using the n sensor driving signals for the n sensors; and a light-receiving transistor disposed oriented such that a receiving angle has a predetermined angle to a radiating angle of the infrared rays output from the light-emitting diode. [3] The non-contact obstacle detection device for a cleaning robot as claimed in claim 1, wherein the first phase signal Phase A is used to transmit infrared rays, the second phase signal Phase B is used to receive infrared rays, and the first phase signal Phase A is counted by the counter 102 and indexed.
PCT/KR2005/004654 2005-01-03 2005-12-29 A non-contact close obstacle detection device for a cleaning robot WO2006073248A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR20050000044A KR100588059B1 (en) 2005-01-03 2005-01-03 A non-contact close obstacle detection device for a cleaning robot
KR10-2005-0000044 2005-01-03

Publications (1)

Publication Number Publication Date
WO2006073248A1 true true WO2006073248A1 (en) 2006-07-13

Family

ID=36647719

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2005/004654 WO2006073248A1 (en) 2005-01-03 2005-12-29 A non-contact close obstacle detection device for a cleaning robot

Country Status (2)

Country Link
KR (1) KR100588059B1 (en)
WO (1) WO2006073248A1 (en)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US8253368B2 (en) 2004-01-28 2012-08-28 Irobot Corporation Debris sensor for cleaning apparatus
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US8380350B2 (en) 2005-12-02 2013-02-19 Irobot Corporation Autonomous coverage robot navigation system
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8418303B2 (en) 2006-05-19 2013-04-16 Irobot Corporation Cleaning robot roller processing
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US8739355B2 (en) 2005-02-18 2014-06-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8780342B2 (en) 2004-03-29 2014-07-15 Irobot Corporation Methods and apparatus for position estimation using reflected light sources
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8874264B1 (en) 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06125311A (en) * 1992-10-12 1994-05-06 Kyowa Denshi Kogyo Kk Infrared ray transmitter and transmission system using it
JPH11328586A (en) * 1998-05-11 1999-11-30 Fuji Xerox Co Ltd Vehicle sensor unit, vehicle sensor unit controller and parking vehicle detection system
KR20040003444A (en) * 2002-07-03 2004-01-13 삼성광주전자 주식회사 Self-moving robot cleaner

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06125311A (en) * 1992-10-12 1994-05-06 Kyowa Denshi Kogyo Kk Infrared ray transmitter and transmission system using it
JPH11328586A (en) * 1998-05-11 1999-11-30 Fuji Xerox Co Ltd Vehicle sensor unit, vehicle sensor unit controller and parking vehicle detection system
KR20040003444A (en) * 2002-07-03 2004-01-13 삼성광주전자 주식회사 Self-moving robot cleaner

Cited By (78)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8478442B2 (en) 2000-01-24 2013-07-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US9446521B2 (en) 2000-01-24 2016-09-20 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8761935B2 (en) 2000-01-24 2014-06-24 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8565920B2 (en) 2000-01-24 2013-10-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US9144361B2 (en) 2000-04-04 2015-09-29 Irobot Corporation Debris sensor for cleaning apparatus
US9582005B2 (en) 2001-01-24 2017-02-28 Irobot Corporation Robot confinement
US9622635B2 (en) 2001-01-24 2017-04-18 Irobot Corporation Autonomous floor-cleaning robot
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US9038233B2 (en) 2001-01-24 2015-05-26 Irobot Corporation Autonomous floor-cleaning robot
US8686679B2 (en) 2001-01-24 2014-04-01 Irobot Corporation Robot confinement
US8463438B2 (en) 2001-06-12 2013-06-11 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
US8838274B2 (en) 2001-06-12 2014-09-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9104204B2 (en) 2001-06-12 2015-08-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8516651B2 (en) 2002-01-03 2013-08-27 Irobot Corporation Autonomous floor-cleaning robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8781626B2 (en) 2002-09-13 2014-07-15 Irobot Corporation Navigational control system for a robotic device
US9949608B2 (en) 2002-09-13 2018-04-24 Irobot Corporation Navigational control system for a robotic device
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8793020B2 (en) 2002-09-13 2014-07-29 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
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8749196B2 (en) 2004-01-21 2014-06-10 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8854001B2 (en) 2004-01-21 2014-10-07 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US9215957B2 (en) 2004-01-21 2015-12-22 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8598829B2 (en) 2004-01-28 2013-12-03 Irobot Corporation Debris sensor for cleaning apparatus
US8456125B2 (en) 2004-01-28 2013-06-04 Irobot Corporation Debris sensor for cleaning apparatus
US8253368B2 (en) 2004-01-28 2012-08-28 Irobot Corporation Debris sensor for cleaning apparatus
US8378613B2 (en) 2004-01-28 2013-02-19 Irobot Corporation Debris sensor for cleaning apparatus
US9360300B2 (en) 2004-03-29 2016-06-07 Irobot Corporation Methods and apparatus for position estimation using reflected light sources
US8780342B2 (en) 2004-03-29 2014-07-15 Irobot Corporation Methods and apparatus for position estimation using reflected light sources
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9486924B2 (en) 2004-06-24 2016-11-08 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9229454B1 (en) 2004-07-07 2016-01-05 Irobot Corporation Autonomous mobile robot system
US8874264B1 (en) 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
US9223749B2 (en) 2004-07-07 2015-12-29 Irobot Corporation Celestial navigation system for an autonomous vehicle
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US8782848B2 (en) 2005-02-18 2014-07-22 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US9445702B2 (en) 2005-02-18 2016-09-20 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8855813B2 (en) 2005-02-18 2014-10-07 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8739355B2 (en) 2005-02-18 2014-06-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8774966B2 (en) 2005-02-18 2014-07-08 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8985127B2 (en) 2005-02-18 2015-03-24 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8966707B2 (en) 2005-02-18 2015-03-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8670866B2 (en) 2005-02-18 2014-03-11 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8978196B2 (en) 2005-12-02 2015-03-17 Irobot Corporation Coverage robot mobility
US8954192B2 (en) 2005-12-02 2015-02-10 Irobot Corporation Navigating autonomous coverage robots
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US8380350B2 (en) 2005-12-02 2013-02-19 Irobot Corporation Autonomous coverage robot navigation system
US8761931B2 (en) 2005-12-02 2014-06-24 Irobot Corporation Robot system
US9599990B2 (en) 2005-12-02 2017-03-21 Irobot Corporation Robot system
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
US9392920B2 (en) 2005-12-02 2016-07-19 Irobot Corporation Robot system
US9149170B2 (en) 2005-12-02 2015-10-06 Irobot Corporation Navigating autonomous coverage robots
US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US9144360B2 (en) 2005-12-02 2015-09-29 Irobot Corporation Autonomous coverage robot navigation system
US8418303B2 (en) 2006-05-19 2013-04-16 Irobot Corporation Cleaning robot roller processing
US8572799B2 (en) 2006-05-19 2013-11-05 Irobot Corporation Removing debris from cleaning robots
US9955841B2 (en) 2006-05-19 2018-05-01 Irobot Corporation Removing debris from cleaning robots
US9492048B2 (en) 2006-05-19 2016-11-15 Irobot Corporation Removing debris from cleaning robots
US8528157B2 (en) 2006-05-19 2013-09-10 Irobot Corporation Coverage robots and associated cleaning bins
US9317038B2 (en) 2006-05-31 2016-04-19 Irobot Corporation Detecting robot stasis
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US9480381B2 (en) 2007-05-09 2016-11-01 Irobot Corporation Compact autonomous coverage robot
US8438695B2 (en) 2007-05-09 2013-05-14 Irobot Corporation Autonomous coverage robot sensing
US8726454B2 (en) 2007-05-09 2014-05-20 Irobot Corporation Autonomous coverage robot
US8839477B2 (en) 2007-05-09 2014-09-23 Irobot Corporation Compact autonomous coverage robot
US10070764B2 (en) 2007-05-09 2018-09-11 Irobot Corporation Compact autonomous coverage robot
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions

Also Published As

Publication number Publication date Type
KR100588059B1 (en) 2006-06-01 grant

Similar Documents

Publication Publication Date Title
US6201236B1 (en) Detection system with improved noise tolerance
US7295108B2 (en) Active RFID tag utilizing a secondary communication mode
US6154635A (en) Antenna driving device for transponder
US4891624A (en) Rearward vehicle obstruction detector using modulated light from the brake light elements
US6404381B1 (en) Radar sensor device
US20070018792A1 (en) Position detecting system, responder and interrogator, wireless communication system, position detecting method, position detecting program, and information recording medium
US5170161A (en) Wireless transmitting-receiving apparatus for a bicycle
US5686921A (en) Radar system
EP0377257A1 (en) Identification system
US4375106A (en) Remote control circuit
US3757285A (en) Acoustic range measuring device
US20070096675A1 (en) Mobile robot charge station return system
US5243181A (en) Noise-insensitive, photoelectric transceiver including a digital stability indicator
US5223707A (en) Optically powered remote sensor apparatus with synchronizing means
US20110180709A1 (en) Serial-chaining proximity sensors for gesture recognition
US4792965A (en) Oscillator system for detecting a selected one of a plurality of tuned circuits
US4434363A (en) Photoelectric switching apparatus
US6054927A (en) Apparatus and method for sensing an object within a monitored zone
US5019813A (en) System for the contactless exchange of data
US4482889A (en) Device for detecting failure of ultrasonic apparatus
US4973834A (en) Optical switching device employing a frequency synchronous circuit
US20100194583A1 (en) Safety Photoelectric Switch
US5428439A (en) Range measurement system
US5565870A (en) Radar apparatus with determination of presence of target reflections
US5155614A (en) Low-power demodulating receiver with amplifier stages sharing the same bias current

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase in:

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 05822839

Country of ref document: EP

Kind code of ref document: A1