WO2011059295A3 - 로봇 청소기 및 이의 제어 방법 - Google Patents

로봇 청소기 및 이의 제어 방법 Download PDF

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Publication number
WO2011059295A3
WO2011059295A3 PCT/KR2010/008097 KR2010008097W WO2011059295A3 WO 2011059295 A3 WO2011059295 A3 WO 2011059295A3 KR 2010008097 W KR2010008097 W KR 2010008097W WO 2011059295 A3 WO2011059295 A3 WO 2011059295A3
Authority
WO
WIPO (PCT)
Prior art keywords
sub
areas
robot cleaner
cleaned
controlling same
Prior art date
Application number
PCT/KR2010/008097
Other languages
English (en)
French (fr)
Other versions
WO2011059295A2 (ko
Inventor
전형신
Original Assignee
엘지전자 주식회사
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 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to EP16163334.2A priority Critical patent/EP3081132B1/en
Priority to EP10830227.4A priority patent/EP2502539B1/en
Priority to EP16163358.1A priority patent/EP3066967B1/en
Priority to EP16156551.0A priority patent/EP3061378B1/en
Priority to EP16156547.8A priority patent/EP3061377B8/en
Priority to US13/508,961 priority patent/US8880271B2/en
Priority to EP16163321.9A priority patent/EP3066966B8/en
Publication of WO2011059295A2 publication Critical patent/WO2011059295A2/ko
Publication of WO2011059295A3 publication Critical patent/WO2011059295A3/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
    • A47L9/28—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
    • A47L9/009—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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

로봇 청소기 및 이의 제어 방법이 개시된다. 본 발명은, 전체 청소 영역을 소영역별로 구분하고, 상기 소영역 내의 이동 경로와, 상기 소영역 간의 연결점을 이용하여 전체 경로를 용이하게 산출하고, 전체 청소 영역이 증가하거나 미청소 영역을 탐색한 경우에 전체 청소 지도를 다시 생성하지 아니하고, 미리 저장된 소영역 내의 이동 경로와, 상기 소영역 간의 연결점을 이용하여 전체 경로를 용이하게 갱신한다.
PCT/KR2010/008097 2009-11-16 2010-11-16 로봇 청소기 및 이의 제어 방법 WO2011059295A2 (ko)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP16163334.2A EP3081132B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP10830227.4A EP2502539B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling same
EP16163358.1A EP3066967B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP16156551.0A EP3061378B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP16156547.8A EP3061377B8 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
US13/508,961 US8880271B2 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP16163321.9A EP3066966B8 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0110433 2009-11-16
KR1020090110433A KR101626984B1 (ko) 2009-11-16 2009-11-16 로봇 청소기 및 이의 제어 방법

Publications (2)

Publication Number Publication Date
WO2011059295A2 WO2011059295A2 (ko) 2011-05-19
WO2011059295A3 true WO2011059295A3 (ko) 2011-11-03

Family

ID=43992266

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/008097 WO2011059295A2 (ko) 2009-11-16 2010-11-16 로봇 청소기 및 이의 제어 방법

Country Status (5)

Country Link
US (1) US8880271B2 (ko)
EP (6) EP3061377B8 (ko)
KR (1) KR101626984B1 (ko)
DE (5) DE202010018399U1 (ko)
WO (1) WO2011059295A2 (ko)

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KR102093177B1 (ko) * 2013-10-31 2020-03-25 엘지전자 주식회사 이동 로봇 및 그 동작방법
US9504367B2 (en) * 2013-11-20 2016-11-29 Samsung Electronics Co., Ltd. Cleaning robot and method for controlling the same
KR102527645B1 (ko) * 2014-08-20 2023-05-03 삼성전자주식회사 청소 로봇 및 그 제어 방법
US11400595B2 (en) * 2015-01-06 2022-08-02 Nexus Robotics Llc Robotic platform with area cleaning mode
CN105824310B (zh) * 2015-01-08 2018-10-19 江苏美的清洁电器股份有限公司 机器人的行走控制方法和机器人
CA2983944C (en) 2015-04-24 2023-10-03 Avidbots Corp. Apparatus and methods for semi-autonomous cleaning of surfaces
DE102015109775B3 (de) 2015-06-18 2016-09-22 RobArt GmbH Optischer Triangulationssensor zur Entfernungsmessung
DE102015114883A1 (de) 2015-09-04 2017-03-09 RobArt GmbH Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters
DE102015119501A1 (de) 2015-11-11 2017-05-11 RobArt GmbH Unterteilung von Karten für die Roboternavigation
DE102015119865B4 (de) 2015-11-17 2023-12-21 RobArt GmbH Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters
DE102015121666B3 (de) 2015-12-11 2017-05-24 RobArt GmbH Fernsteuerung eines mobilen, autonomen Roboters
DE102016102644A1 (de) 2016-02-15 2017-08-17 RobArt GmbH Verfahren zur Steuerung eines autonomen mobilen Roboters
CN106292662A (zh) * 2016-08-09 2017-01-04 衣佳鑫 机器人轨迹绘制方法及系统
KR101849972B1 (ko) 2016-12-27 2018-05-31 엘지전자 주식회사 로봇 청소기 및 그의 제어방법
JP2020509500A (ja) 2017-03-02 2020-03-26 ロブアート ゲーエムベーハーＲＯＢＡＲＴ ＧｍｂＨ 自律移動ロボットの制御方法
DE102017104690A1 (de) 2017-03-07 2018-09-13 Miele & Cie. Kg Anzeigevorrichtung für einen Robotstaubsauger, Robotstaubsauger mit einer Anzeigevorrichtung und Verfahren zum Betreiben einer Anzeigevorrichtung
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CN107977003B (zh) * 2017-11-28 2020-07-31 深圳市杉川机器人有限公司 区域清扫方法及装置
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CN108415419A (zh) * 2018-01-24 2018-08-17 达闼科技（北京）有限公司 垃圾拾取方法、机器人、电子设备和计算机程序产品
KR102106100B1 (ko) * 2018-02-02 2020-05-06 엘지전자 주식회사 이동 로봇
CN110442123B (zh) * 2018-05-03 2022-08-05 南宁富联富桂精密工业有限公司 清扫机器人、清扫方法、环境监控方法和计算机存储介质
CN108776478B (zh) * 2018-06-05 2021-05-07 北京智行者科技有限公司 一种作业路径的规划方法
KR102090590B1 (ko) 2018-06-08 2020-04-23 엘지전자 주식회사 장애물 회피에 기반하여 경유 지점을 주행하는 로봇 및 주행하는 방법
US11613041B1 (en) 2018-11-08 2023-03-28 Scepaniak IP Holdings, LLC Coping nailer
US11214967B1 (en) 2018-11-08 2022-01-04 Scepaniak IP Holdings, LLC Roof rock spreader
CN111185899B (zh) * 2018-11-14 2022-05-13 苏州科瓴精密机械科技有限公司 机器人控制方法及机器人系统
CN111061270B (zh) * 2019-12-18 2023-12-29 深圳拓邦股份有限公司 一种全面覆盖方法、系统及作业机器人
CN113556679A (zh) * 2020-04-24 2021-10-26 苏州科瓴精密机械科技有限公司 自移动机器人工作区域虚拟边界的生成方法、系统、自移动机器人及可读存储介质
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KR20090104393A (ko) * 2008-03-31 2009-10-06 엘지전자 주식회사 로봇 청소기의 제어방법

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Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2004185586A (ja) * 2002-12-04 2004-07-02 Toshitoki Inoue 自走ロボットとその制御方法
JP2005205028A (ja) * 2004-01-23 2005-08-04 Sharp Corp 自走式掃除機
KR20090077547A (ko) * 2008-01-11 2009-07-15 삼성전자주식회사 이동 로봇의 경로 계획 방법 및 장치
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Also Published As

Publication number Publication date
EP3066966B8 (en) 2021-09-15
US20120232738A1 (en) 2012-09-13
EP3061377B1 (en) 2021-08-11
EP3061377A1 (en) 2016-08-31
EP3061378A1 (en) 2016-08-31
EP2502539A2 (en) 2012-09-26
DE202010018398U1 (de) 2016-04-29
EP2502539A4 (en) 2016-08-31
EP3061378B1 (en) 2021-08-25
WO2011059295A2 (ko) 2011-05-19
EP3066966B1 (en) 2021-08-11
EP2502539B1 (en) 2021-08-04
US8880271B2 (en) 2014-11-04
EP3066967A1 (en) 2016-09-14
DE202010018396U1 (de) 2016-05-04
DE202010018400U1 (de) 2016-05-04
EP3061377B8 (en) 2021-09-15
EP3081132B1 (en) 2021-08-25
KR101626984B1 (ko) 2016-06-02
EP3081132A1 (en) 2016-10-19
DE202010018397U1 (de) 2016-05-04
EP3066967B1 (en) 2021-08-18
DE202010018399U1 (de) 2016-05-02
KR20110053764A (ko) 2011-05-24
EP3066966A1 (en) 2016-09-14

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