WO2017200302A3 - 이동 로봇 및 그 제어방법 - Google Patents

이동 로봇 및 그 제어방법 Download PDF

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Publication number
WO2017200302A3
WO2017200302A3 PCT/KR2017/005132 KR2017005132W WO2017200302A3 WO 2017200302 A3 WO2017200302 A3 WO 2017200302A3 KR 2017005132 W KR2017005132 W KR 2017005132W WO 2017200302 A3 WO2017200302 A3 WO 2017200302A3
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
emitting unit
obstacles
pattern
pattern emitting
Prior art date
Application number
PCT/KR2017/005132
Other languages
English (en)
French (fr)
Other versions
WO2017200302A2 (ko
Inventor
전우찬
성철모
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
Priority claimed from KR1020160060444A external-priority patent/KR101917116B1/ko
Priority claimed from KR1020160141106A external-priority patent/KR102167898B1/ko
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to EP17799659.2A priority Critical patent/EP3459688B1/en
Publication of WO2017200302A2 publication Critical patent/WO2017200302A2/ko
Publication of WO2017200302A3 publication Critical patent/WO2017200302A3/ko

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    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
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    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A47L11/33—Carpet-sweepers having means for storing dirt
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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    • A47L11/4066—Propulsion of the whole machine
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    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
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    • 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
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    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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    • 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
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    • A47L9/30—Arrangement of illuminating devices
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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    • B25J5/00—Manipulators mounted on wheels or on carriages
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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    • G01S—RADIO 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G—PHYSICS
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    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • A—HUMAN NECESSITIES
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

본 발명의 이동 로봇은 본체의 전방의 청소구역 내 바닥을 향해 제 1 패턴의 광을 조사하는 제 1 패턴 조사부와, 상기 본체 전방으로 상향으로 제 2 패턴의 광을 조사하는 제 2 패턴 조사부를 포함하고, 상기 제 1 패턴 조사부와 상기 제 2 패턴 조사부에 의해 조사된 각 패턴의 광이 장애물에 입사된 영상을 영상 획득부를 통해 획득하여, 획득된 영상으로부터 패턴을 검출하여 장애물을 판단하도록 구성됨으로써, 주변의 장애물에 대한 정보를 바탕으로 복수의 장애물로 인하여 주행이 제한되는 구속상황인지 여부를 판단하고, 주변 장애물에 대한 정보를 바탕으로 탈출 경로를 설정하여 주행함으로써, 이동 로봇의 주행상태 및 장애물에 대한 빠른 판단과 동작이 가능하고 보다 효과적으로 구속상황을 탈출하여 주행할 수 있다.
PCT/KR2017/005132 2016-05-17 2017-05-17 이동 로봇 및 그 제어방법 WO2017200302A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17799659.2A EP3459688B1 (en) 2016-05-17 2017-05-17 Mobile robot and control method therefor

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020160060444A KR101917116B1 (ko) 2016-05-17 2016-05-17 로봇 청소기
KR10-2016-0060444 2016-05-17
KR1020160141106A KR102167898B1 (ko) 2016-10-27 2016-10-27 이동 로봇 및 그 제어방법
KR10-2016-0141106 2016-10-27

Publications (2)

Publication Number Publication Date
WO2017200302A2 WO2017200302A2 (ko) 2017-11-23
WO2017200302A3 true WO2017200302A3 (ko) 2018-04-12

Family

ID=60325265

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/KR2017/005136 WO2017200305A1 (ko) 2016-05-17 2017-05-17 로봇 청소기
PCT/KR2017/005132 WO2017200302A2 (ko) 2016-05-17 2017-05-17 이동 로봇 및 그 제어방법

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/005136 WO2017200305A1 (ko) 2016-05-17 2017-05-17 로봇 청소기

Country Status (8)

Country Link
US (2) US10349798B2 (ko)
EP (2) EP3459691B1 (ko)
JP (1) JP2019516483A (ko)
CN (1) CN207979622U (ko)
AU (1) AU2017267155B2 (ko)
RU (1) RU2719222C1 (ko)
TW (2) TWI689387B (ko)
WO (2) WO2017200305A1 (ko)

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WO2019004633A1 (ko) * 2017-06-30 2019-01-03 엘지전자 주식회사 이동 로봇의 동작 방법 및 이동 로봇
KR101984516B1 (ko) * 2017-07-21 2019-05-31 엘지전자 주식회사 청소기 및 그 제어방법
KR102448287B1 (ko) * 2017-08-08 2022-09-28 삼성전자주식회사 전자 장치 및 그 동작 방법
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