WO2009148242A3 - 로봇 청소기 시스템 및 로봇 청소기 제어 방법 - Google Patents

로봇 청소기 시스템 및 로봇 청소기 제어 방법 Download PDF

Info

Publication number
WO2009148242A3
WO2009148242A3 PCT/KR2009/002907 KR2009002907W WO2009148242A3 WO 2009148242 A3 WO2009148242 A3 WO 2009148242A3 KR 2009002907 W KR2009002907 W KR 2009002907W WO 2009148242 A3 WO2009148242 A3 WO 2009148242A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot cleaner
cleaning
control unit
transmitted
signal
Prior art date
Application number
PCT/KR2009/002907
Other languages
English (en)
French (fr)
Other versions
WO2009148242A2 (ko
Inventor
최인규
단철순
Original Assignee
웅진코웨이주식회사
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 웅진코웨이주식회사 filed Critical 웅진코웨이주식회사
Priority to CN2009801232677A priority Critical patent/CN102065738A/zh
Priority to US12/995,668 priority patent/US20110077774A1/en
Priority to EP09758495A priority patent/EP2286704A2/en
Publication of WO2009148242A2 publication Critical patent/WO2009148242A2/ko
Publication of WO2009148242A3 publication Critical patent/WO2009148242A3/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
    • A47L9/009—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
    • 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
    • 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
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
    • 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)
  • Human Computer Interaction (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

본 발명은, 하나의 청소구역에 포함된 다수의 소구역에 대한 청소시간을 적절하게 분배하기 위한 로봇 청소기 시스템 및 로봇 청소기 제어 방법에 관한 것이다. 이를 위해 로봇 청소기 제어 방법은, 청소 시작 정보가 수신되면 로봇 청소기의 제어부가 상기 로봇 청소기의 구동부를 구동하여 다수의 소구역을 포함하는 하나의 청소구역을 스캐닝하여 상기 청소구역에 대한 청소시간을 산출하는 산출단계와, 상기 제어부가 상기 로봇 청소기를 구동하여 상기 청소구역에 대한 청소를 수행하는 청소수행단계와, 상기 청소수행 중 상기 청소구역에 구비된 송신장치로부터 송신된 신호가 수신되면 상기 송신장치에 장착된 다수의 송신기 중 어느 송신기로부터 송신된 신호인지를 상기 제어부가 확인하는 확인단계와, 상기 확인 결과를 이용하여, 동일한 송신기로부터 송신된 신호 수신 시간이 상기 로봇 청소기의 저장부에 저장되어 있는 설정 시간 이상인지 여부를 상기 제어부가 판단하는 판단단계와, 상기 판단 결과 상기 송신된 신호 수신 시간이 상기 설정시간 미만인 경우 상기 제어부가 상기 로봇 청소기를 구동하여 상기 로봇 청소기가 위치한 소구역에 대한 청소를 지속적으로 수행하는 지속수행단계와, 상기 판단 결과, 상기 송신된 신호 수신 시간이 상기 설정시간 이상인 경우 상기 제어부가 다른 송신기로부터 송신된 신호가 수신될 때까지 상기 로봇 청소기를 이동시키는 이동 단계를 포함한다.
PCT/KR2009/002907 2008-06-02 2009-06-01 로봇 청소기 시스템 및 로봇 청소기 제어 방법 WO2009148242A2 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2009801232677A CN102065738A (zh) 2008-06-02 2009-06-01 机器人清洁器系统和控制机器人清洁器的方法
US12/995,668 US20110077774A1 (en) 2008-06-02 2009-06-01 Robot cleaner system and method for controlling a robot cleaner
EP09758495A EP2286704A2 (en) 2008-06-02 2009-06-01 Robot cleaner system and method for controlling a robot cleaner

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2008-0051776 2008-06-02
KR20080051776 2008-06-02

Publications (2)

Publication Number Publication Date
WO2009148242A2 WO2009148242A2 (ko) 2009-12-10
WO2009148242A3 true WO2009148242A3 (ko) 2010-03-18

Family

ID=41398653

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/002907 WO2009148242A2 (ko) 2008-06-02 2009-06-01 로봇 청소기 시스템 및 로봇 청소기 제어 방법

Country Status (5)

Country Link
US (1) US20110077774A1 (ko)
EP (1) EP2286704A2 (ko)
KR (1) KR101055124B1 (ko)
CN (1) CN102065738A (ko)
WO (1) WO2009148242A2 (ko)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102133078A (zh) * 2010-01-22 2011-07-27 泰怡凯电器(苏州)有限公司 地面处理系统及其地面处理装置的引导方法
KR101333496B1 (ko) * 2010-11-30 2013-11-28 주식회사 유진로봇 과거 지도 데이터 기반의 이동 로봇 제어 장치 및 방법
KR101244997B1 (ko) * 2010-12-03 2013-03-18 (주)마미로봇 자동청소장치 및 자동청소장치의 제어방법
CN103476314B (zh) * 2011-03-28 2015-11-25 株式会社东芝 电动吸尘器
JP6109477B2 (ja) * 2012-01-17 2017-04-05 シャープ株式会社 自走式電子機器、端末装置、および操作システム
KR101954144B1 (ko) * 2012-06-08 2019-03-05 엘지전자 주식회사 로봇 청소기와, 이의 제어 방법, 및 이를 포함한 로봇 청소 시스템
DE102012109004A1 (de) * 2012-09-24 2014-03-27 RobArt GmbH Roboter und Verfahren zur autonomen Inspektion oder Bearbeitung von Bodenflächen
CN103909514A (zh) * 2013-01-05 2014-07-09 科沃斯机器人科技(苏州)有限公司 自移动机器人长边作业移动控制总成及其控制方法
US9233472B2 (en) 2013-01-18 2016-01-12 Irobot Corporation Mobile robot providing environmental mapping for household environmental control
JP6409003B2 (ja) * 2013-01-18 2018-10-17 アイロボット コーポレイション ロボットを用いる方法及びそのコンピュータ可読記憶媒体
KR102306709B1 (ko) * 2014-08-19 2021-09-29 삼성전자주식회사 청소 로봇, 청소 로봇의 제어 장치, 제어 시스템, 및 제어 방법
CN105559695A (zh) * 2014-10-10 2016-05-11 莱克电气股份有限公司 机器人吸尘器
DE102014226084A1 (de) * 2014-12-16 2016-06-16 Robert Bosch Gmbh Verfahren zur Kartierung einer Bearbeitungsfläche für autonome Roboterfahrzeuge
AU2020100041A4 (en) 2019-01-11 2020-02-20 Bissell Inc. Artificial barrier for autonomous floor cleaner
JP2021091053A (ja) * 2019-12-11 2021-06-17 セイコーエプソン株式会社 ロボットシステムおよびロボットの制御装置
CN114947626B (zh) * 2022-07-08 2023-08-18 深圳市优必选科技股份有限公司 边刷状态确定方法、装置、扫地机及计算机可读存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001037060A1 (en) * 1999-11-18 2001-05-25 The Procter & Gamble Company Home cleaning robot
JP2001325023A (ja) * 2000-05-16 2001-11-22 Matsushita Electric Ind Co Ltd 移動作業ロボット
JP2002085305A (ja) * 2000-09-12 2002-03-26 Toshiba Tec Corp ロボットクリーナ及びロボットクリーナシステム
KR100528297B1 (ko) * 2003-07-31 2005-11-15 삼성전자주식회사 로봇 청소기의 제어시스템

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6532404B2 (en) * 1997-11-27 2003-03-11 Colens Andre Mobile robots and their control system
GB9827779D0 (en) * 1998-12-18 1999-02-10 Notetry Ltd Improvements in or relating to appliances
US6836701B2 (en) * 2002-05-10 2004-12-28 Royal Appliance Mfg. Co. Autonomous multi-platform robotic system
KR100561855B1 (ko) 2002-12-30 2006-03-16 삼성전자주식회사 로봇용 로컬라이제이션 시스템
EP1599939A2 (en) * 2003-02-21 2005-11-30 Inesa Inc. An apparatus and method for distance measurement with controlled modulation of emitted pulses
KR100538934B1 (ko) 2003-07-24 2005-12-27 삼성광주전자 주식회사 청소시스템 및 이의 제어방법
KR100571837B1 (ko) * 2004-03-05 2006-04-17 삼성전자주식회사 자율주행기기의 주행제어방법 및 장치
US7706917B1 (en) * 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US7877166B2 (en) * 2005-06-28 2011-01-25 S.C. Johnson & Son, Inc. RFID navigational system for robotic floor treater
AU2006284577B2 (en) * 2005-09-02 2012-09-13 Neato Robotics, Inc. Multi-function robotic device
US9144360B2 (en) * 2005-12-02 2015-09-29 Irobot Corporation Autonomous coverage robot navigation system
EP3031377B1 (en) * 2006-05-19 2018-08-01 iRobot Corporation Removing debris from cleaning robots
KR100769910B1 (ko) * 2006-09-11 2007-10-24 엘지전자 주식회사 이동로봇 및 그 동작방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001037060A1 (en) * 1999-11-18 2001-05-25 The Procter & Gamble Company Home cleaning robot
JP2001325023A (ja) * 2000-05-16 2001-11-22 Matsushita Electric Ind Co Ltd 移動作業ロボット
JP2002085305A (ja) * 2000-09-12 2002-03-26 Toshiba Tec Corp ロボットクリーナ及びロボットクリーナシステム
KR100528297B1 (ko) * 2003-07-31 2005-11-15 삼성전자주식회사 로봇 청소기의 제어시스템

Also Published As

Publication number Publication date
US20110077774A1 (en) 2011-03-31
KR20090125711A (ko) 2009-12-07
CN102065738A (zh) 2011-05-18
KR101055124B1 (ko) 2011-08-08
WO2009148242A2 (ko) 2009-12-10
EP2286704A2 (en) 2011-02-23

Similar Documents

Publication Publication Date Title
WO2009148242A3 (ko) 로봇 청소기 시스템 및 로봇 청소기 제어 방법
WO2011014785A3 (en) Navigational control system for a robotic device
EP3916508A4 (en) METHOD AND APPARATUS FOR A CONTROL, DEVICE, HOLDER AND DRIVING SYSTEM
WO2009136969A3 (en) Apparatuses, systems, and methods for apparatus operation and remote sensing
PL2322028T3 (pl) System wspomagania kierowcy do rolniczej maszyny roboczej
EP3919003A4 (en) ULTRASOUND SCANNING METHOD AND SYSTEM, ULTRASOUND SCANNING DEVICE AND RECORDING MEDIA
TW200639608A (en) Self-propelled apparatus for virtual wall system
WO2013060982A8 (fr) Dispositif de pilotage à distance d'un appareil nettoyeur de surface immergée et appareil ainsi piloté
WO2007092443A3 (en) Method and appratus for liquid dispensing head and system
DE502006007106D1 (de) Vorrichtung und Verfahren zur Erkennung von Kollisionen bei Möbeln
EP2194435A3 (en) Garment worn by the operator of a semi-autonomous machine
WO2008070653A3 (en) Apparatus, systems and methods for handheld gaming, including interactive maps
WO2008060689A3 (en) Autonomous behaviors for a remote vehicle
WO2010071802A3 (en) System for performing clinical trials
JP2010067267A5 (ko)
EP4075165A4 (en) PULSE DISTANCE MEASUREMENT DEVICE AND METHOD AND AUTOMATIC CLEANING DEVICE THEREFROM
WO2007120465A3 (en) Apparatus and method for aspirating and dispensing liquid
EP3998007A4 (en) METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A CLEANING APPARATUS, DEVICE AND MEDIUM
SG165400A1 (en) Substrate cleaning apparatus, substrate cleaning method, substrate cleaning program and program recording medium
WO2008147895A9 (en) Systems and methods for providing trigger timing
KR101415737B1 (ko) 로봇 청소 시스템
JP2014006234A (ja) 障害物検知装置
IL285387A (en) System and method for driving an ultrasonic device
EP3963613C0 (de) Antriebssystem für einen schalter und ein verfahren zum antreiben eines schalters
JP2010194662A (ja) 工具用無線通信システム

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200980123267.7

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09758495

Country of ref document: EP

Kind code of ref document: A2

WWE Wipo information: entry into national phase

Ref document number: 12995668

Country of ref document: US

Ref document number: 2009758495

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE