WO2011145839A3 - 유리창 청소 장치 및 그의 이동 제어 방법 - Google Patents

유리창 청소 장치 및 그의 이동 제어 방법 Download PDF

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Publication number
WO2011145839A3
WO2011145839A3 PCT/KR2011/003562 KR2011003562W WO2011145839A3 WO 2011145839 A3 WO2011145839 A3 WO 2011145839A3 KR 2011003562 W KR2011003562 W KR 2011003562W WO 2011145839 A3 WO2011145839 A3 WO 2011145839A3
Authority
WO
WIPO (PCT)
Prior art keywords
window
cleaning apparatus
controlling
movement
cleaning
Prior art date
Application number
PCT/KR2011/003562
Other languages
English (en)
French (fr)
Other versions
WO2011145839A2 (ko
Inventor
유만현
정광목
최영호
Original Assignee
주식회사 일심글로발
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 주식회사 일심글로발 filed Critical 주식회사 일심글로발
Priority to EP11783721.1A priority Critical patent/EP2572617B1/en
Priority to CN201180024272.XA priority patent/CN103037743B/zh
Priority to US13/698,188 priority patent/US20130056028A1/en
Priority to JP2013510031A priority patent/JP5531158B2/ja
Publication of WO2011145839A2 publication Critical patent/WO2011145839A2/ko
Publication of WO2011145839A3 publication Critical patent/WO2011145839A3/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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Window Of Vehicle (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

본 발명은 자력으로 유리창의 양면에 각각 부착되어 이동되는 제1 청소 유닛 및 제2 청소 유닛을 포함하는 유리창 청소 장치 및 그의 이동 제어 방법에 관한 것으로, 그 이동 제어 방법은 유리창 청소 장치의 초기 부착 위치를 검출하는 단계; 및 청소 종료 후 검출된 초기 부착 위치에 인접한 위치로 상기 유리창 청소 장치를 이동시키는 단계를 포함한다.
PCT/KR2011/003562 2010-05-15 2011-05-13 유리창 청소 장치 및 그의 이동 제어 방법 WO2011145839A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP11783721.1A EP2572617B1 (en) 2010-05-15 2011-05-13 Window-cleaning apparatus, and method for controlling the movement thereof
CN201180024272.XA CN103037743B (zh) 2010-05-15 2011-05-13 玻璃窗清洁装置及其移动控制方法
US13/698,188 US20130056028A1 (en) 2010-05-15 2011-05-13 Window-cleaning apparatus, and method for controlling the movement thereof
JP2013510031A JP5531158B2 (ja) 2010-05-15 2011-05-13 ガラス窓掃除装置及びその移動制御方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0045717 2010-05-15
KR1020100045717A KR101289240B1 (ko) 2010-05-15 2010-05-15 유리창 청소 장치 및 그의 이동 제어 방법

Publications (2)

Publication Number Publication Date
WO2011145839A2 WO2011145839A2 (ko) 2011-11-24
WO2011145839A3 true WO2011145839A3 (ko) 2012-03-08

Family

ID=44992182

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/003562 WO2011145839A2 (ko) 2010-05-15 2011-05-13 유리창 청소 장치 및 그의 이동 제어 방법

Country Status (6)

Country Link
US (1) US20130056028A1 (ko)
EP (1) EP2572617B1 (ko)
JP (1) JP5531158B2 (ko)
KR (1) KR101289240B1 (ko)
CN (1) CN103037743B (ko)
WO (1) WO2011145839A2 (ko)

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* Cited by examiner, † Cited by third party
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WO2014157760A1 (ko) * 2013-03-29 2014-10-02 인텔렉추얼디스커버리 주식회사 유리창 청소 장치 및 그의 이동 제어 방법
CN110418594A (zh) * 2017-04-25 2019-11-05 深圳市元征科技股份有限公司 自动驾驶清洗玻璃方法、装置及计算机可读存储介质
KR101789739B1 (ko) * 2017-06-07 2017-10-25 강희영 클리닝 어셈블리
CN108378766B (zh) * 2018-03-13 2020-07-14 嘉兴市禾兴自润轴承开发有限公司 一种带有泄气装置的擦玻璃机器人
USD855080S1 (en) * 2018-03-23 2019-07-30 Amazon Technologies, Inc. Mobile drive unit
CN108937702B (zh) * 2018-07-05 2021-05-18 广东宝乐机器人股份有限公司 一种用于机器人的边界检测方法、装置、机器人及介质
CN109129499B (zh) * 2018-07-18 2020-09-22 广东宝乐机器人股份有限公司 控制擦窗机器人行走的方法、擦窗机器人及存储介质
CN111329383A (zh) * 2018-12-19 2020-06-26 科沃斯机器人股份有限公司 清洁方法及清洁机器人
JP6865790B2 (ja) * 2019-07-09 2021-04-28 株式会社Ｌｉｘｉｌ 空間制御システム
CN114234355B (zh) * 2021-12-24 2022-10-28 珠海格力电器股份有限公司 空调清洁方法、装置、电子设备及计算机可读存储介质

Citations (3)

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Publication number Priority date Publication date Assignee Title
KR20010083059A (ko) * 1999-04-20 2001-08-31 김인광 음원의 방향을 검출하여 음원의 위치로 이동하기 위한로봇 및 그 동작방법
KR100732567B1 (ko) * 2006-07-04 2007-06-29 최리나 블레이드를 갖는 유리창 닦는 장치
KR20090017191A (ko) * 2007-08-14 2009-02-18 포항공과대학교 산학협력단 로봇청소기를 이용한 청소방법

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JPH06337714A (ja) * 1993-05-31 1994-12-06 East Japan Railway Co 清掃ロボットの制御装置
US5646494A (en) * 1994-03-29 1997-07-08 Samsung Electronics Co., Ltd. Charge induction apparatus of robot cleaner and method thereof
JP2000250452A (ja) * 1999-03-01 2000-09-14 Hitachi Ltd 窓ガラス清掃機能付表示器及びそれを用いた移動表示システム
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DE10245522C1 (de) * 2002-09-27 2003-10-23 Univ Luebeck Vorrichtung zum Reinigen von planen Fensterflächen
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KR100809352B1 (ko) * 2006-11-16 2008-03-05 삼성전자주식회사 파티클 필터 기반의 이동 로봇의 자세 추정 방법 및 장치
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* Cited by examiner, † Cited by third party
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KR20010083059A (ko) * 1999-04-20 2001-08-31 김인광 음원의 방향을 검출하여 음원의 위치로 이동하기 위한로봇 및 그 동작방법
KR100732567B1 (ko) * 2006-07-04 2007-06-29 최리나 블레이드를 갖는 유리창 닦는 장치
KR20090017191A (ko) * 2007-08-14 2009-02-18 포항공과대학교 산학협력단 로봇청소기를 이용한 청소방법

Also Published As

Publication number Publication date
WO2011145839A2 (ko) 2011-11-24
KR20110126200A (ko) 2011-11-23
EP2572617A4 (en) 2014-11-19
EP2572617A2 (en) 2013-03-27
JP2013529949A (ja) 2013-07-25
EP2572617B1 (en) 2017-04-12
US20130056028A1 (en) 2013-03-07
JP5531158B2 (ja) 2014-06-25
CN103037743A (zh) 2013-04-10
KR101289240B1 (ko) 2013-07-26
CN103037743B (zh) 2016-03-16

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