WO2020117766A1 - Optical indicium for communicating information to autonomous devices - Google Patents
Optical indicium for communicating information to autonomous devices Download PDFInfo
- Publication number
- WO2020117766A1 WO2020117766A1 PCT/US2019/064179 US2019064179W WO2020117766A1 WO 2020117766 A1 WO2020117766 A1 WO 2020117766A1 US 2019064179 W US2019064179 W US 2019064179W WO 2020117766 A1 WO2020117766 A1 WO 2020117766A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- action
- robotic cleaner
- optical
- indicium
- beacon
- Prior art date
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 167
- 230000009471 action Effects 0.000 claims abstract description 160
- 238000003032 molecular docking Methods 0.000 claims description 48
- 238000004140 cleaning Methods 0.000 claims description 22
- 230000004044 response Effects 0.000 claims description 10
- 230000000875 corresponding effect Effects 0.000 description 31
- 238000000034 method Methods 0.000 description 14
- 230000004075 alteration Effects 0.000 description 9
- 239000000428 dust Substances 0.000 description 6
- 238000000926 separation method Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L9/2842—Suction motors or blowers
-
- 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
- A47L9/2847—Surface treating elements
-
- 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
-
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the present disclosure is generally related to optical indicia for use with autonomous devices and more specifically related to optical indicia to communicate information to a robotic cleaner.
- FIG. 5 is a flow chart of an example of a method of correcting for an aberration in an image captured by and/or a misalignment of a camera, consistent with embodiments of the present disclosure.
- the optical indicium 200 may be a fixed medium (e.g., an adhesive label) configured to be coupled to a surface (e.g., a wall or the beacon 102).
- the fixed medium may include multiple sides, each side having one or more optical patterns 202.
- the optical indicium 200 may be a dynamic medium (e.g., a display such as an electronic paper display or a liquid crystal display).
- the optical pattern 202 may be a barcode such as a QR Code, an AR Tag, an APRIL Tag, a CAL Tag, and/or any other barcode.
- the optical indicium 200 is shown as having a rectangular shape, the optical indicium 200 may have other shapes.
- the optical indicium 200 may be circular, triangular, octagonal, square, pentagonal, and/or any other shape.
- the robotic cleaner 100 can include the illuminator 118 and the illuminator 118 can be configured to emit the wavelengths of light that the window 306 is transparent to (e.g., infrared light).
- the optical indicium 308 may be configured to be at least partially reflective (e.g., at least 20%, at least 30%, at least 40%, at least 50%, at least 60%, at least 70%, at least 80%, at least 90%, or at least 95% of light incident thereon is reflected).
- FIG. 4 shows a flow diagram of an example method 400 of operation of a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, when observing an optical indicium, such as the optical indicium 113 of FIG. 1.
- the method 400 may include a step 402.
- the step 402 may include the robotic cleaner observing the optical indicium with a camera (e.g., capturing an image of the optical indicium).
- the method 400 may also include a step 404.
- the step 404 may include analyzing an image of the optical indicium (e.g., coupled a beacon).
- the robotic cleaner Upon detecting the optical indicium, the robotic cleaner is configured to determine an action associated with the optical indicium.
- the robotic cleaner can be configured to compare the captured image of the optical indicium with known images of one or more optical indicia stored in a memory of the robotic cleaner.
- An example of a beacon for a robotic cleaner may include a housing and an optical indicium having an optical pattern.
- the optical indicium may be coupled to the housing and be viewable by a camera of the robotic cleaner. After observing the optical indicium, the robotic cleaner may be caused to carry out an action associated with at least a portion of the optical pattern.
- An example of a system may include a robotic cleaner and a beacon.
- the robotic cleaner may include a processor configured to cause the robotic cleaner to carry out one or more instructions stored in a memory and a camera configured to observe an environment of the robotic cleaner.
- the beacon may include a housing and an optical indicium having an optical pattern. The optical indicium may be coupled to the housing and be viewable by the camera of the robotic cleaner.
- the robotic cleaner may be configured to carry out an action associated with at least a portion of the optical pattern in response to observing the optical indicium.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021531666A JP7101893B2 (en) | 2018-12-03 | 2019-12-03 | Optical markings for transmitting information to autonomous devices |
CN201980090490.XA CN113365535B (en) | 2018-12-03 | 2019-12-03 | Optical marker for communicating information to autonomous device |
EP19891712.2A EP3876806B1 (en) | 2018-12-03 | 2019-12-03 | Optical indicium for communicating information to autonomous devices |
CA3122028A CA3122028C (en) | 2018-12-03 | 2019-12-03 | Optical indicium for communicating information to autonomous devices |
AU2019392447A AU2019392447A1 (en) | 2018-12-03 | 2019-12-03 | Optical indicium for communicating information to autonomous devices |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201862774599P | 2018-12-03 | 2018-12-03 | |
US62/774,599 | 2018-12-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020117766A1 true WO2020117766A1 (en) | 2020-06-11 |
Family
ID=70849545
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2019/064179 WO2020117766A1 (en) | 2018-12-03 | 2019-12-03 | Optical indicium for communicating information to autonomous devices |
Country Status (7)
Country | Link |
---|---|
US (1) | US11426046B2 (en) |
EP (1) | EP3876806B1 (en) |
JP (1) | JP7101893B2 (en) |
CN (2) | CN212089442U (en) |
AU (1) | AU2019392447A1 (en) |
CA (1) | CA3122028C (en) |
WO (1) | WO2020117766A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220163666A1 (en) * | 2020-11-24 | 2022-05-26 | Pixart Imaging Inc. | Method for eliminating misjudgment of reflective lights and optical sensing system |
US11859795B2 (en) | 2022-02-04 | 2024-01-02 | Tennant Company | Surface maintenance machine light projection |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11768281B2 (en) * | 2020-02-28 | 2023-09-26 | Continental Autonomous Mobility US, LLC | Vehicle component with image sensor aimed at fiducial marker |
US20210282613A1 (en) * | 2020-03-12 | 2021-09-16 | Irobot Corporation | Control of autonomous mobile robots |
US11826906B2 (en) * | 2020-11-24 | 2023-11-28 | Pixart Imaging Inc. | Method for eliminating misjudgment of reflective light and optical sensing system |
CN113261884A (en) * | 2021-06-17 | 2021-08-17 | 东莞市光劲光电有限公司 | Floor sweeping robot positioning method |
GB2616657A (en) * | 2022-03-17 | 2023-09-20 | Dyson Technology Ltd | Use of fiducial marks by a robotic vacuum cleaner |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1696298A2 (en) | 2005-02-25 | 2006-08-30 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner and a method for controlling the same |
US20100215216A1 (en) * | 2009-02-25 | 2010-08-26 | Samsung Electronics Co., Ltd. | Localization system and method |
US7933687B2 (en) * | 2005-07-22 | 2011-04-26 | Lg Electronics Inc. | Moving object capable of recognizing image and moving-object directing system equipped with the same |
US20150115876A1 (en) * | 2013-10-31 | 2015-04-30 | Lg Electronics Inc. | Mobile robot, charging apparatus for the mobile robot, and mobile robot system |
US20160091899A1 (en) * | 2013-05-10 | 2016-03-31 | Dyson Technology Limited | Apparatus for guiding an autonomous vehicle towards a docking station |
US20170177001A1 (en) * | 2015-12-21 | 2017-06-22 | Xiaomi Inc. | Charging pile, method and device for recognizing the charging pile |
Family Cites Families (67)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5367458A (en) | 1993-08-10 | 1994-11-22 | Caterpillar Industrial Inc. | Apparatus and method for identifying scanned reflective anonymous targets |
US5525883A (en) * | 1994-07-08 | 1996-06-11 | Sara Avitzour | Mobile robot location determination employing error-correcting distributed landmarks |
US6532404B2 (en) * | 1997-11-27 | 2003-03-11 | Colens Andre | Mobile robots and their control system |
US6362875B1 (en) | 1999-12-10 | 2002-03-26 | Cognax Technology And Investment Corp. | Machine vision system and method for inspection, homing, guidance and docking with respect to remote objects |
CN1314367A (en) | 2000-03-17 | 2001-09-26 | 上海博德基因开发有限公司 | New polypeptide-human mitochondrion ATP ase coupling factor 6-10 and polynucleotide for coding such polypeptide |
US6496754B2 (en) | 2000-11-17 | 2002-12-17 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot and course adjusting method thereof |
AU767561B2 (en) * | 2001-04-18 | 2003-11-13 | Samsung Kwangju Electronics Co., Ltd. | Robot cleaner, system employing the same and method for reconnecting to external recharging device |
JP2002323925A (en) | 2001-04-26 | 2002-11-08 | Matsushita Electric Ind Co Ltd | Moving working robot |
US7340076B2 (en) | 2001-05-10 | 2008-03-04 | Digimarc Corporation | Digital watermarks for unmanned vehicle navigation |
US7231063B2 (en) | 2002-08-09 | 2007-06-12 | Intersense, Inc. | Fiducial detection system |
KR100493159B1 (en) | 2002-10-01 | 2005-06-02 | 삼성전자주식회사 | Landmark, apparatus and method for determining position of autonomous vehicles effectively |
JP2004237075A (en) | 2003-02-06 | 2004-08-26 | Samsung Kwangju Electronics Co Ltd | Robot cleaner system provided with external charger and connection method for robot cleaner to external charger |
KR100552691B1 (en) | 2003-09-16 | 2006-02-20 | 삼성전자주식회사 | Method and apparatus for localization in mobile robot |
US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
JP4129442B2 (en) * | 2004-03-24 | 2008-08-06 | 株式会社東芝 | Mobile equipment system |
US8972052B2 (en) * | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
KR100656701B1 (en) * | 2004-10-27 | 2006-12-13 | 삼성광주전자 주식회사 | Robot cleaner system and Method for return to external charge apparatus |
JP2006134997A (en) * | 2004-11-04 | 2006-05-25 | Fujitsu Ltd | Programmable logical device |
KR100645381B1 (en) | 2005-08-31 | 2006-11-14 | 삼성광주전자 주식회사 | Apparatus for return to external charge of robot cleaner and method thereof |
KR100649674B1 (en) | 2005-11-28 | 2006-11-27 | 한국전자통신연구원 | Method for recognizing position using a built-in camera and apparatus thereof |
KR20080051936A (en) * | 2006-12-07 | 2008-06-11 | 삼성광주전자 주식회사 | An automatic docking-inducing apparatus of a robot |
TWI330305B (en) * | 2006-12-28 | 2010-09-11 | Ind Tech Res Inst | Method for routing a robotic apparatus to a service station and robotic apparatus service system using thereof |
DE102007036229A1 (en) * | 2007-08-02 | 2009-02-05 | BSH Bosch und Siemens Hausgeräte GmbH | Mobile device i.e. self-propelled accumulator-operating dust collecting robot, introducing method for stationary device such as accumulator-loading station, involves introducing mobile device in accordance with motion-sequence |
US8422777B2 (en) | 2008-10-14 | 2013-04-16 | Joshua Victor Aller | Target and method of detecting, identifying, and determining 3-D pose of the target |
KR101672787B1 (en) * | 2009-06-19 | 2016-11-17 | 삼성전자주식회사 | Robot cleaner and docking station and robot cleaner system having the same and control method thereof |
KR101483541B1 (en) * | 2010-07-15 | 2015-01-19 | 삼성전자주식회사 | Autonomous cleaning device, maintenance station and cleaning system having them |
JP5770858B2 (en) * | 2010-12-30 | 2015-08-26 | アイロボット コーポレイション | Debris monitoring |
TW201240636A (en) * | 2011-04-11 | 2012-10-16 | Micro Star Int Co Ltd | Cleaning system |
DE102011051729A1 (en) * | 2011-07-11 | 2013-01-17 | Alfred Kärcher Gmbh & Co. Kg | Self-propelled floor cleaning device |
KR20130034573A (en) * | 2011-09-28 | 2013-04-05 | 삼성전자주식회사 | Fencing sense apparatus and robot cleaner having the same |
DE102012100324B4 (en) * | 2012-01-16 | 2024-03-28 | Vorwerk & Co. Interholding Gmbh | Automatically movable device and method for determining the inclination of such a device and/or for tracking walls and/or for approaching an object |
US9146560B2 (en) * | 2012-03-30 | 2015-09-29 | Irobot Corporation | System and method for implementing force field deterrent for robot |
WO2014055966A1 (en) | 2012-10-05 | 2014-04-10 | Irobot Corporation | Robot management systems for determining docking station pose including mobile robots and methods using same |
US9102055B1 (en) | 2013-03-15 | 2015-08-11 | Industrial Perception, Inc. | Detection and reconstruction of an environment to facilitate robotic interaction with the environment |
KR101395888B1 (en) | 2013-03-21 | 2014-05-27 | 엘지전자 주식회사 | Robot cleaner and operating method |
JP6261977B2 (en) * | 2013-12-25 | 2018-01-17 | 東芝ライフスタイル株式会社 | Running body device |
US9826873B2 (en) | 2013-12-13 | 2017-11-28 | Toshiba Lifestyle Products & Services Corporation | Traveling body device |
US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
US20150293533A1 (en) * | 2014-04-13 | 2015-10-15 | Bobsweep Inc. | Scanned Code Instruction and Confinement Sytem for Mobile Electronic Devices |
DE102014212408A1 (en) | 2014-06-27 | 2015-12-31 | Robert Bosch Gmbh | Autonomous working device |
JP6729997B2 (en) * | 2014-12-25 | 2020-07-29 | 東芝ライフスタイル株式会社 | Vacuum cleaner |
KR102404258B1 (en) * | 2015-02-06 | 2022-06-02 | 삼성전자주식회사 | Apparatus for returning of robot and returning method thereof |
US9868211B2 (en) * | 2015-04-09 | 2018-01-16 | Irobot Corporation | Restricting movement of a mobile robot |
US10300804B2 (en) | 2015-04-29 | 2019-05-28 | General Electric Company | Apparatus and method for automated positioning of a vehicle |
KR102398330B1 (en) * | 2015-06-12 | 2022-05-16 | 엘지전자 주식회사 | Moving robot and controlling method thereof |
DE102015114883A1 (en) * | 2015-09-04 | 2017-03-09 | RobArt GmbH | Identification and localization of a base station of an autonomous mobile robot |
GB201518652D0 (en) | 2015-10-21 | 2015-12-02 | F Robotics Acquisitions Ltd | Domestic robotic system and method |
US9682481B2 (en) | 2015-10-26 | 2017-06-20 | X Development Llc | Communication of information regarding a robot using an optical identifier |
DE102017109882A1 (en) * | 2016-05-08 | 2017-11-09 | ADLATUS Robotics GmbH | Service station for mobile robots |
CN106308685B (en) * | 2016-08-23 | 2019-10-11 | 北京小米移动软件有限公司 | cleaning robot and control method thereof |
JP6792819B2 (en) * | 2016-12-02 | 2020-12-02 | 株式会社リコー | Connecting device, connecting traveling device and autonomous traveling device |
US10698411B1 (en) * | 2016-12-13 | 2020-06-30 | AI Incorporated | Recharge station for mobile robot |
DE102016124684A1 (en) * | 2016-12-16 | 2018-06-21 | Vorwerk & Co. Interholding Gmbh | Service device for a household appliance |
US10399443B2 (en) | 2017-09-22 | 2019-09-03 | Locus Robotics Corp. | Autonomous robot charging station |
KR102444693B1 (en) | 2017-11-15 | 2022-09-20 | 삼성전자 주식회사 | Moving apparatus for cleaning and control method thereof |
KR102203439B1 (en) * | 2018-01-17 | 2021-01-14 | 엘지전자 주식회사 | a Moving robot and Controlling method for the moving robot |
US20210011495A1 (en) | 2018-03-13 | 2021-01-14 | Nec Corporation | Moving body guidance apparatus, moving body guidance method, and computer-readable recording medium |
JP7070659B2 (en) | 2018-03-13 | 2022-05-18 | 日本電気株式会社 | Mobile guidance device, mobile guidance method, and program |
JP7028310B2 (en) | 2018-03-13 | 2022-03-02 | 日本電気株式会社 | Target member |
CN207896709U (en) | 2018-03-19 | 2018-09-21 | 小狗电器互联网科技(北京)股份有限公司 | Wireless charging base and dust collecting system |
CN208174318U (en) | 2018-05-15 | 2018-11-30 | 江苏美的清洁电器股份有限公司 | Cradle and mobile robot charging system |
WO2019241262A1 (en) | 2018-06-11 | 2019-12-19 | Jabil Inc. | Apparatus, system, and method of docking for autonomous robot navigation |
CN108988423A (en) | 2018-07-23 | 2018-12-11 | 深圳市银星智能科技股份有限公司 | Charging pile and its recognition methods, intelligent mobile device, system |
WO2020086526A1 (en) * | 2018-10-22 | 2020-04-30 | Sharkninja Operating Llc | Docking station for robotic cleaner |
CN209313458U (en) | 2018-11-20 | 2019-08-27 | 深圳飞科机器人有限公司 | A kind of charging pile and auto cleaning system |
WO2020137315A1 (en) | 2018-12-28 | 2020-07-02 | パナソニックIpマネジメント株式会社 | Positioning device and mobile body |
CN109674402B (en) | 2019-01-04 | 2021-09-07 | 云鲸智能科技(东莞)有限公司 | Information processing method and related equipment |
-
2019
- 2019-12-03 EP EP19891712.2A patent/EP3876806B1/en active Active
- 2019-12-03 CN CN201922143519.6U patent/CN212089442U/en active Active
- 2019-12-03 AU AU2019392447A patent/AU2019392447A1/en not_active Abandoned
- 2019-12-03 CN CN201980090490.XA patent/CN113365535B/en active Active
- 2019-12-03 JP JP2021531666A patent/JP7101893B2/en active Active
- 2019-12-03 WO PCT/US2019/064179 patent/WO2020117766A1/en unknown
- 2019-12-03 US US16/701,716 patent/US11426046B2/en active Active
- 2019-12-03 CA CA3122028A patent/CA3122028C/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1696298A2 (en) | 2005-02-25 | 2006-08-30 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner and a method for controlling the same |
US7933687B2 (en) * | 2005-07-22 | 2011-04-26 | Lg Electronics Inc. | Moving object capable of recognizing image and moving-object directing system equipped with the same |
US20100215216A1 (en) * | 2009-02-25 | 2010-08-26 | Samsung Electronics Co., Ltd. | Localization system and method |
US20160091899A1 (en) * | 2013-05-10 | 2016-03-31 | Dyson Technology Limited | Apparatus for guiding an autonomous vehicle towards a docking station |
US20180004219A1 (en) | 2013-05-10 | 2018-01-04 | Dyson Technology Limited | Apparatus for guiding an autonomous vehicle towards a docking station |
US20150115876A1 (en) * | 2013-10-31 | 2015-04-30 | Lg Electronics Inc. | Mobile robot, charging apparatus for the mobile robot, and mobile robot system |
US20170177001A1 (en) * | 2015-12-21 | 2017-06-22 | Xiaomi Inc. | Charging pile, method and device for recognizing the charging pile |
Non-Patent Citations (1)
Title |
---|
See also references of EP3876806A4 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220163666A1 (en) * | 2020-11-24 | 2022-05-26 | Pixart Imaging Inc. | Method for eliminating misjudgment of reflective lights and optical sensing system |
US11921205B2 (en) * | 2020-11-24 | 2024-03-05 | Pixart Imaging Inc. | Method for eliminating misjudgment of reflective lights and optical sensing system |
US11859795B2 (en) | 2022-02-04 | 2024-01-02 | Tennant Company | Surface maintenance machine light projection |
Also Published As
Publication number | Publication date |
---|---|
CN212089442U (en) | 2020-12-08 |
JP7101893B2 (en) | 2022-07-15 |
US11426046B2 (en) | 2022-08-30 |
CA3122028A1 (en) | 2020-06-11 |
CN113365535B (en) | 2023-01-06 |
EP3876806B1 (en) | 2023-03-08 |
EP3876806A1 (en) | 2021-09-15 |
US20200170470A1 (en) | 2020-06-04 |
EP3876806A4 (en) | 2022-01-26 |
CA3122028C (en) | 2022-06-21 |
AU2019392447A1 (en) | 2021-06-24 |
JP2022511832A (en) | 2022-02-01 |
CN113365535A (en) | 2021-09-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11426046B2 (en) | Optical indicium for communicating information to autonomous devices | |
EP3593692B1 (en) | Vacuum cleaner and control method thereof | |
US20220083070A1 (en) | Identification And Localization Of A Base Station Of An Autonomous Mobile Robot | |
KR101813922B1 (en) | Robot cleaner and controlling method of the same | |
EP2888603B1 (en) | Robot positioning system | |
EP3533369B1 (en) | Vacuum cleaner and control method therefor | |
CN107297755B (en) | Mobile robot, charging base for mobile robot, and mobile robot system | |
EP2859423B1 (en) | System and method for guiding a robot cleaner along a path | |
US10213082B2 (en) | Robot cleaner | |
US20240159901A1 (en) | Optical sensing system | |
US20240042630A1 (en) | Method for eliminating misjudgment of reflective light and optical sensing system | |
KR101943359B1 (en) | Robot cleaner and controlling method of the same | |
US11586219B2 (en) | Optical beacon for autonomous device and autonomous device configured to use the same | |
KR101895314B1 (en) | Robot cleaner and controlling method of the same | |
US20230096516A1 (en) | Mobile robot and control method therefor | |
CN113613536B (en) | robot cleaner | |
AU2020409806B2 (en) | Mobile robot and control method therefor | |
KR102203438B1 (en) | a Moving robot and Controlling method for the moving robot | |
KR20230011698A (en) | Moving Robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19891712 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2021531666 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 3122028 Country of ref document: CA |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2019891712 Country of ref document: EP Effective date: 20210607 |
|
ENP | Entry into the national phase |
Ref document number: 2019392447 Country of ref document: AU Date of ref document: 20191203 Kind code of ref document: A |