WO2017200304A3 - 이동 로봇 및 그 제어방법 - Google Patents
이동 로봇 및 그 제어방법 Download PDFInfo
- Publication number
- WO2017200304A3 WO2017200304A3 PCT/KR2017/005135 KR2017005135W WO2017200304A3 WO 2017200304 A3 WO2017200304 A3 WO 2017200304A3 KR 2017005135 W KR2017005135 W KR 2017005135W WO 2017200304 A3 WO2017200304 A3 WO 2017200304A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- obstacle
- main body
- inclination
- mobile robot
- control method
- Prior art date
Links
- 238000004140 cleaning Methods 0.000 abstract 1
Classifications
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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
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0472—Discs
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0477—Rolls
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
-
- 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
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
-
- 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
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- 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)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
본 발명의 이동 로봇은 본체의 전방의 청소구역 내 바닥을 향해 제 1 패턴의 광고, 상향으로 제 2 패턴의 광을 조사하고, 조사된 각 패턴의 광이 장애물에 입사된 영상을 통해 장애물을 판단하고, 본체의 기울어짐을 감지하여 기울기를 보상함으로써, 장애물에 대한 정확한 판단이 가능하고, 기울기 보상을 통해 주행 가능 여부를 다시 판단하여 장애물을 통과하거나 회피할 수 있으므로, 다양한 영역에 진입할 수 있어 청소가능 영역이 확장되며, 빠른 판단과 동작이 가능하고 장애물이 구속되지 않고 탈출하여 효과적으로 주행할 수 있다.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP17799661.8A EP3459690B1 (en) | 2016-05-17 | 2017-05-17 | Mobile robot and control method therefor |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020160060444A KR101917116B1 (ko) | 2016-05-17 | 2016-05-17 | 로봇 청소기 |
KR10-2016-0060444 | 2016-05-17 | ||
KR10-2016-0112779 | 2016-09-01 | ||
KR1020160112779A KR102147208B1 (ko) | 2016-09-01 | 2016-09-01 | 이동 로봇 및 그 제어방법 |
KR10-2016-0141106 | 2016-10-27 | ||
KR1020160141106A KR102167898B1 (ko) | 2016-10-27 | 2016-10-27 | 이동 로봇 및 그 제어방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2017200304A2 WO2017200304A2 (ko) | 2017-11-23 |
WO2017200304A3 true WO2017200304A3 (ko) | 2018-04-12 |
Family
ID=60325281
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2017/005135 WO2017200304A2 (ko) | 2016-05-17 | 2017-05-17 | 이동 로봇 및 그 제어방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10656656B2 (ko) |
EP (1) | EP3459690B1 (ko) |
TW (1) | TWI639021B (ko) |
WO (1) | WO2017200304A2 (ko) |
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US11772647B2 (en) * | 2016-06-24 | 2023-10-03 | Jaguar Land Rover Limited | Control system for a vehicle |
EP3489787B1 (en) * | 2016-07-21 | 2022-03-02 | Positec Power Tools (Suzhou) Co., Ltd | Self-moving apparatus capable of automatically identifying a frontal object, and identification method |
JP2019109854A (ja) * | 2017-12-20 | 2019-07-04 | 東芝ライフスタイル株式会社 | 自律走行体 |
US20200397207A1 (en) * | 2018-01-09 | 2020-12-24 | Lg Electronics Inc. | Robotic vacuum cleaner and control method therefor |
KR102021827B1 (ko) * | 2018-01-19 | 2019-09-17 | 엘지전자 주식회사 | 청소기 |
USD870401S1 (en) * | 2018-04-27 | 2019-12-17 | Maidbot, Inc. | Robot body |
KR102067600B1 (ko) * | 2018-05-16 | 2020-01-17 | 엘지전자 주식회사 | 청소기 및 그 제어방법 |
KR102070283B1 (ko) * | 2018-05-16 | 2020-01-28 | 엘지전자 주식회사 | 청소기 및 그 제어방법 |
GB2576494B (en) * | 2018-08-06 | 2022-03-23 | Dyson Technology Ltd | A mobile robot and method of controlling thereof |
USD894248S1 (en) * | 2018-08-31 | 2020-08-25 | Roborus Co., Ltd. | Robot |
US11353884B2 (en) * | 2019-01-28 | 2022-06-07 | Pixart Imaging Inc. | Robot without detection dead zone |
CN111596651B (zh) * | 2019-02-19 | 2022-08-09 | 科沃斯机器人股份有限公司 | 环境区域划分与定点清扫方法、设备及存储介质 |
US11294391B2 (en) * | 2019-05-28 | 2022-04-05 | Pixart Imaging Inc. | Moving robot with improved identification accuracy of step distance |
US11809195B2 (en) * | 2019-05-28 | 2023-11-07 | Pixart Imaging Inc. | Moving robot with improved identification accuracy of carpet |
KR20210028426A (ko) | 2019-09-04 | 2021-03-12 | 엘지전자 주식회사 | 로봇 청소기 및 그 제어방법 |
KR102296693B1 (ko) * | 2020-03-17 | 2021-08-31 | 엘지전자 주식회사 | 이동 로봇 |
CN111487964A (zh) * | 2020-04-03 | 2020-08-04 | 北京理工大学 | 一种机器人小车及其自主避障方法、设备 |
CN111538329B (zh) * | 2020-04-09 | 2023-02-28 | 北京石头创新科技有限公司 | 一种图像查看方法、终端及清洁机 |
CN111603099B (zh) * | 2020-05-06 | 2021-08-06 | 珠海市一微半导体有限公司 | 一种具备区域遍历优先级的清扫规划方法及芯片 |
CN114661036A (zh) * | 2020-12-03 | 2022-06-24 | 苏州宝时得电动工具有限公司 | 自移动设备和自移动设备的控制方法 |
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- 2017-05-17 US US15/597,670 patent/US10656656B2/en active Active
- 2017-05-17 WO PCT/KR2017/005135 patent/WO2017200304A2/ko unknown
- 2017-05-17 EP EP17799661.8A patent/EP3459690B1/en active Active
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Also Published As
Publication number | Publication date |
---|---|
EP3459690A4 (en) | 2020-01-29 |
TW201809724A (zh) | 2018-03-16 |
US10656656B2 (en) | 2020-05-19 |
US20170336796A1 (en) | 2017-11-23 |
EP3459690B1 (en) | 2023-08-09 |
WO2017200304A2 (ko) | 2017-11-23 |
TWI639021B (zh) | 2018-10-21 |
EP3459690A2 (en) | 2019-03-27 |
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