ATE301302T1 - Verfahren und system zur roboterlokalisierung und beschränkung des arbeitsbereichs - Google Patents

Verfahren und system zur roboterlokalisierung und beschränkung des arbeitsbereichs

Info

Publication number
ATE301302T1
ATE301302T1 AT03250141T AT03250141T ATE301302T1 AT E301302 T1 ATE301302 T1 AT E301302T1 AT 03250141 T AT03250141 T AT 03250141T AT 03250141 T AT03250141 T AT 03250141T AT E301302 T1 ATE301302 T1 AT E301302T1
Authority
AT
Austria
Prior art keywords
signal
barrier
robot
barrier signal
working area
Prior art date
Application number
AT03250141T
Other languages
English (en)
Inventor
Joseph L Jones
Philip R Mass
Original Assignee
Irobot Corp
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=22006659&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=ATE301302(T1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from US10/056,804 external-priority patent/US6690134B1/en
Application filed by Irobot Corp filed Critical Irobot Corp
Application granted granted Critical
Publication of ATE301302T1 publication Critical patent/ATE301302T1/de

Links

Classifications

    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • 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
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Numerical Control (AREA)
  • Optical Communication System (AREA)
AT03250141T 2002-01-24 2003-01-09 Verfahren und system zur roboterlokalisierung und beschränkung des arbeitsbereichs ATE301302T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10/056,804 US6690134B1 (en) 2001-01-24 2002-01-24 Method and system for robot localization and confinement

Publications (1)

Publication Number Publication Date
ATE301302T1 true ATE301302T1 (de) 2005-08-15

Family

ID=22006659

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03250141T ATE301302T1 (de) 2002-01-24 2003-01-09 Verfahren und system zur roboterlokalisierung und beschränkung des arbeitsbereichs

Country Status (7)

Country Link
EP (1) EP1331537B1 (de)
JP (1) JP3563735B2 (de)
CN (1) CN1241080C (de)
AT (1) ATE301302T1 (de)
CA (1) CA2416382C (de)
DE (1) DE60301148T2 (de)
TW (1) TW552488B (de)

Families Citing this family (133)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US7663333B2 (en) 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
KR100528297B1 (ko) * 2003-07-31 2005-11-15 삼성전자주식회사 로봇 청소기의 제어시스템
DE10346216B3 (de) * 2003-09-24 2004-09-09 Alfred Kärcher Gmbh & Co. Kg Verfahren zur Reinigung einer Bodenfläche mittels eines Bodenreinigungssystems und Bodenreinigungssystem zur Durchführung des Verfahrens
DE10357636B4 (de) * 2003-12-10 2013-05-08 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
KR101154662B1 (ko) * 2004-01-21 2012-06-11 아이로보트 코퍼레이션 자율 로봇 장치
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
AU2011204422B2 (en) * 2004-01-21 2012-09-13 Irobot Corporation Method of docking an autonomous robot
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
ATE536577T1 (de) 2004-06-24 2011-12-15 Irobot Corp Fernbediente ablaufsteuerung und verfahren für eine autonome robotervorrichtung
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
DE602006014364D1 (de) 2005-02-18 2010-07-01 Irobot Corp Autonomer oberflächenreinigungsroboter für nass- und trockenreinigung
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
KR101340841B1 (ko) * 2005-02-18 2013-12-11 아이로보트 코퍼레이션 습식 및 건식 청소를 위한 자동 표면 청소 로봇
US20100222926A1 (en) * 2005-05-09 2010-09-02 Ting-Yin Chiu Virtual wall system
US7441298B2 (en) 2005-12-02 2008-10-28 Irobot Corporation Coverage robot mobility
KR101290379B1 (ko) * 2005-12-02 2013-07-26 아이로보트 코퍼레이션 자동 커버리지 로봇 운행 시스템
ES2706729T3 (es) 2005-12-02 2019-04-01 Irobot Corp Sistema de robot
EP2466411B1 (de) 2005-12-02 2018-10-17 iRobot Corporation Robotersystem
ATE442619T1 (de) 2005-12-02 2009-09-15 Irobot Corp Modularer roboter
EP3404505B1 (de) 2006-03-17 2023-12-06 iRobot Corporation Rasenpflegeroboter
CN100372494C (zh) * 2006-03-29 2008-03-05 熊圣友 全自动型吸尘器的控制电路
US8108092B2 (en) 2006-07-14 2012-01-31 Irobot Corporation Autonomous behaviors for a remote vehicle
US8326469B2 (en) 2006-07-14 2012-12-04 Irobot Corporation Autonomous behaviors for a remote vehicle
US20090044370A1 (en) 2006-05-19 2009-02-19 Irobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8843244B2 (en) 2006-10-06 2014-09-23 Irobot Corporation Autonomous behaviors for a remove vehicle
KR20090106531A (ko) 2006-12-19 2009-10-09 코닌클리케 필립스 일렉트로닉스 엔.브이. 자율 디바이스를 제어하는 방법
KR101529848B1 (ko) 2007-05-09 2015-06-17 아이로보트 코퍼레이션 표면 처리 로봇
US8255092B2 (en) 2007-05-14 2012-08-28 Irobot Corporation Autonomous behaviors for a remote vehicle
TWI408397B (zh) 2008-08-15 2013-09-11 Univ Nat Chiao Tung Automatic navigation device with ultrasonic and computer vision detection and its navigation method
CN101375781B (zh) * 2008-09-28 2011-11-30 泰怡凯电器(苏州)有限公司 地面处理***及地面处理装置与充电座的对接方法
BR112012003579A2 (pt) * 2009-08-18 2020-08-11 Crown Equipment Corporation método para aplicar automaticamente uma manobra de correção da direção em um veículo de manipulação de materiais, e, veículo de manipulação de materiais
CN102133078A (zh) * 2010-01-22 2011-07-27 泰怡凯电器(苏州)有限公司 地面处理***及其地面处理装置的引导方法
JP5647269B2 (ja) 2010-02-16 2014-12-24 アイロボット コーポレイション 掃除機ブラシ
TWI424296B (zh) * 2010-05-25 2014-01-21 Micro Star Int Co Ltd 引導裝置及操作系統
CN102156473A (zh) * 2010-12-16 2011-08-17 深圳市银星智能电器有限公司 移动机器人用制约***
JP5770858B2 (ja) 2010-12-30 2015-08-26 アイロボット コーポレイション デブリモニタリング
CN102591340B (zh) * 2011-01-05 2014-04-30 泰怡凯电器(苏州)有限公司 擦玻璃机器人的移动控制方法
CN102591336B (zh) * 2011-01-05 2014-12-17 科沃斯机器人有限公司 擦玻璃机器人的贴边移动控制方法及其控制***
TWI424912B (zh) * 2011-01-28 2014-02-01 Pegatron Corp 機器人控制系統及方法
TW201240636A (en) * 2011-04-11 2012-10-16 Micro Star Int Co Ltd Cleaning system
TWI555496B (zh) * 2011-05-17 2016-11-01 微星科技股份有限公司 清潔系統及其控制方法
US9110452B2 (en) * 2011-09-19 2015-08-18 Fisher-Rosemount Systems, Inc. Inferential process modeling, quality prediction and fault detection using multi-stage data segregation
CN103251359B (zh) * 2012-02-16 2017-03-08 恩斯迈电子(深圳)有限公司 扫地机器人的控制方法
CN103251360A (zh) * 2012-02-16 2013-08-21 恩斯迈电子(深圳)有限公司 扫地机器人的控制方法
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
CN103676945B (zh) * 2012-08-31 2017-10-27 科沃斯机器人股份有限公司 智能控制机器人移动至信号范围内的方法
CN102909721A (zh) * 2012-11-01 2013-02-06 李木 一种可定位并操作目标物的多轨机器人及其控制方法
CN103908196A (zh) * 2013-01-05 2014-07-09 恩斯迈电子(深圳)有限公司 清扫机器人及清扫***
CN103969654A (zh) * 2013-01-28 2014-08-06 苏州科瓴精密机械科技有限公司 移动机器人***
KR102118769B1 (ko) 2013-04-15 2020-06-03 에이비 엘렉트로룩스 로봇 진공 청소기
KR20150141979A (ko) 2013-04-15 2015-12-21 악티에볼라겟 엘렉트로룩스 돌출 측부 브러시를 구비하는 로봇 진공 청소기
TWI554373B (zh) * 2013-04-26 2016-10-21 Univ Cheng Shiu Work in a narrow space for robots
US10617271B2 (en) 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
EP3082542B1 (de) 2013-12-19 2018-11-28 Aktiebolaget Electrolux Erfassung des anstiegs eines hindernisses für eine robotische reinigungsvorrichtung
KR102130190B1 (ko) 2013-12-19 2020-07-03 에이비 엘렉트로룩스 로봇 청소 장치
WO2015090398A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
EP3084539B1 (de) 2013-12-19 2019-02-20 Aktiebolaget Electrolux Priorisierung von reinigungsbereichen
CN105744872B (zh) 2013-12-19 2020-01-14 伊莱克斯公司 旋转侧刷的自适应速度控制
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
CN105848545B (zh) 2013-12-20 2019-02-19 伊莱克斯公司 灰尘容器
CN111603094B (zh) * 2014-02-28 2022-05-13 三星电子株式会社 清扫机器人及远程控制器
CN104914857A (zh) * 2014-03-10 2015-09-16 宝时得机械(中国)有限公司 智能边界柱
WO2015153109A1 (en) 2014-03-31 2015-10-08 Irobot Corporation Autonomous mobile robot
KR102325130B1 (ko) 2014-07-10 2021-11-12 에이비 엘렉트로룩스 로봇 청소 장치에서 측정 에러를 검출하는 방법
JP6378962B2 (ja) * 2014-07-31 2018-08-22 シャープ株式会社 自走式電子機器
EP3190938A1 (de) 2014-09-08 2017-07-19 Aktiebolaget Electrolux Robotischer staubsauger
EP3190939B1 (de) 2014-09-08 2021-07-21 Aktiebolaget Electrolux Roboterstaubsauger
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US9510505B2 (en) 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
CN105629972B (zh) * 2014-11-07 2018-05-18 科沃斯机器人股份有限公司 引导式虚拟墙***
CN106998980B (zh) 2014-12-10 2021-12-17 伊莱克斯公司 使用激光传感器检测地板类型
EP3229983B1 (de) 2014-12-12 2019-02-20 Aktiebolaget Electrolux Seitenbürste und reinigungsroboter
US9420741B2 (en) 2014-12-15 2016-08-23 Irobot Corporation Robot lawnmower mapping
EP3234714B1 (de) 2014-12-16 2021-05-12 Aktiebolaget Electrolux Erfahrungsbasierte karte einer robotischen reinigungsvorrichtung
CN106998984B (zh) 2014-12-16 2021-07-27 伊莱克斯公司 用于机器人清洁设备的清洁方法
US9538702B2 (en) 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
TWI533101B (zh) * 2015-01-23 2016-05-11 cheng-xiang Yan System and Method of Restricting Robot Action
US9868211B2 (en) * 2015-04-09 2018-01-16 Irobot Corporation Restricting movement of a mobile robot
KR102343513B1 (ko) 2015-04-17 2021-12-28 에이비 엘렉트로룩스 로봇 청소 장치 및 로봇 청소 장치의 제어 방법
CN104799767B (zh) * 2015-05-19 2017-11-14 莱克电气股份有限公司 一种免碰撞结构及机器人吸尘器
WO2016206716A1 (en) * 2015-06-23 2016-12-29 Aktiebolaget Electrolux Remotely controlled robotic cleaning device
US11115798B2 (en) 2015-07-23 2021-09-07 Irobot Corporation Pairing a beacon with a mobile robot
US10034421B2 (en) 2015-07-24 2018-07-31 Irobot Corporation Controlling robotic lawnmowers
EP3344104B1 (de) 2015-09-03 2020-12-30 Aktiebolaget Electrolux System aus robotischen reinigungsvorrichtungen
CN105116903A (zh) * 2015-09-14 2015-12-02 苏州爱普电器有限公司 自移动机器人制约***
JP6690948B2 (ja) * 2016-01-12 2020-04-28 東芝ライフスタイル株式会社 自律走行体
CN105759814B (zh) * 2016-01-27 2020-02-14 深圳市银星智能科技股份有限公司 一种机器人的制约装置和制约的***和方法
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
US10459063B2 (en) 2016-02-16 2019-10-29 Irobot Corporation Ranging and angle of arrival antenna system for a mobile robot
JP7035300B2 (ja) 2016-03-15 2022-03-15 アクチエボラゲット エレクトロルックス ロボット清掃デバイス、ロボット清掃デバイスにおける、断崖検出を遂行する方法、コンピュータプログラム、およびコンピュータプログラム製品
CN107305383A (zh) * 2016-04-22 2017-10-31 上海慧流云计算科技有限公司 一种自动避障的方法及使用该方法的机器人
CN107305384A (zh) * 2016-04-22 2017-10-31 上海慧流云计算科技有限公司 一种自动避障的方法及机器人
US11122953B2 (en) 2016-05-11 2021-09-21 Aktiebolaget Electrolux Robotic cleaning device
CN107456172B (zh) 2016-06-06 2019-12-31 北京小米移动软件有限公司 清洁机器人及障碍物跨越方法
US10845817B1 (en) 2016-08-11 2020-11-24 Ali Ebrahimi Afrouzi System and method for confining robotic devices
JP6944770B2 (ja) * 2016-09-21 2021-10-06 大和ハウス工業株式会社 建物及び自走式掃除機システム
DE102016118820A1 (de) 2016-10-05 2018-04-05 Alfred Kärcher Gmbh & Co. Kg Selbstfahrendes und selbstlenkendes Bodenbearbeitungsgerät sowie Verfahren zum Bearbeiten einer Bodenfläche
CN106618390A (zh) * 2016-12-06 2017-05-10 厦门视贝智能电器有限公司 扫地机***、及防止扫地机误碰回充座的方法
US10866102B2 (en) 2016-12-23 2020-12-15 X Development Llc Localization of robotic vehicles
US11493930B2 (en) 2018-09-28 2022-11-08 Intrinsic Innovation Llc Determining changes in marker setups for robot localization
EP3629869B1 (de) 2017-06-02 2023-08-16 Aktiebolaget Electrolux Verfahren zum erkennen einer niveaudifferenz einer oberfläche vor einer roboterreinigungsvorrichtung
WO2019013989A1 (en) 2017-07-14 2019-01-17 Irobot Corporation BLADE ASSEMBLY FOR MOBILE GRASS CUTTING ROBOT
CN111093447B (zh) 2017-09-26 2022-09-02 伊莱克斯公司 机器人清洁设备的移动控制
WO2019104738A1 (zh) * 2017-12-01 2019-06-06 深圳市沃特沃德股份有限公司 制约装置和视觉扫地机器人及其控制方法
CN107803837B (zh) * 2017-12-01 2020-02-07 深圳市无限动力发展有限公司 制约装置和视觉扫地机器人及其控制方法
JP2019111160A (ja) * 2017-12-25 2019-07-11 日立グローバルライフソリューションズ株式会社 自走式電気掃除機
KR102489806B1 (ko) * 2018-01-03 2023-01-19 삼성전자주식회사 청소용 이동장치, 협업청소 시스템 및 그 제어방법
CN108549391B (zh) * 2018-05-25 2021-11-19 汇专科技集团股份有限公司 Agv小车控制***及方法
US10824160B2 (en) 2018-09-28 2020-11-03 X Development Llc Robot localization with co-located markers
US10852740B2 (en) 2018-09-28 2020-12-01 X Development Llc Determining the orientation of flat reflectors during robot mapping
US11287824B2 (en) 2018-11-19 2022-03-29 Mobile Industrial Robots A/S Detecting a location of an autonomous device
EP3887844B1 (de) 2018-11-28 2024-03-20 SharkNinja Operating LLC Optische bake für autonome vorrichtung und für ihre verwendung konfigurierte autonome vorrichtung
AU2020100041A4 (en) * 2019-01-11 2020-02-20 Bissell Inc. Artificial barrier for autonomous floor cleaner
US10809734B2 (en) 2019-03-13 2020-10-20 Mobile Industrial Robots A/S Route planning in an autonomous device
CN112890680B (zh) * 2019-11-19 2023-12-12 科沃斯机器人股份有限公司 跟随清洁作业方法、控制方法、装置、机器人及存储介质
US11592299B2 (en) 2020-03-19 2023-02-28 Mobile Industrial Robots A/S Using static scores to control vehicle operations
US11835949B2 (en) 2020-11-24 2023-12-05 Mobile Industrial Robots A/S Autonomous device safety system
CN112741562A (zh) * 2020-12-30 2021-05-04 苏州三六零机器人科技有限公司 扫地机控制方法、装置、设备及计算机可读存储介质
CN113440054B (zh) * 2021-06-30 2022-09-20 北京小狗吸尘器集团股份有限公司 扫地机器人充电基座范围的确定方法和装置
CN114073459B (zh) * 2021-07-15 2023-02-28 浙江绍兴苏泊尔生活电器有限公司 清洁基站的控制方法、清洁基站和清洁***
CN116945208B (zh) * 2023-09-19 2023-12-15 湖南固工机器人有限公司 一种机器人***

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5165064A (en) * 1991-03-22 1992-11-17 Cyberotics, Inc. Mobile robot guidance and navigation system
GB9827779D0 (en) * 1998-12-18 1999-02-10 Notetry Ltd Improvements in or relating to appliances

Also Published As

Publication number Publication date
CN1241080C (zh) 2006-02-08
DE60301148T2 (de) 2006-06-01
JP2003228421A (ja) 2003-08-15
CN1434359A (zh) 2003-08-06
TW200302409A (en) 2003-08-01
JP3563735B2 (ja) 2004-09-08
TW552488B (en) 2003-09-11
CA2416382C (en) 2006-02-07
DE60301148D1 (de) 2005-09-08
EP1331537A1 (de) 2003-07-30
EP1331537B1 (de) 2005-08-03
CA2416382A1 (en) 2003-07-24

Similar Documents

Publication Publication Date Title
ATE301302T1 (de) Verfahren und system zur roboterlokalisierung und beschränkung des arbeitsbereichs
US9746572B2 (en) Electronic marker devices and systems
KR101898582B1 (ko) 시각장애인용 지팡이
US9041546B2 (en) System and method for position detection
US20130044005A1 (en) Object detection device
CA2501035A1 (en) Search device for locating a transmitter, in particular an avalanche-victim search device
US11000716B2 (en) Distance-learning safety retraction lanyard
ATE406066T1 (de) System und verfahren zur erkennung eines hf- geräts eines fahrzeugs
ATE298094T1 (de) Verfahren und vorrichtung zur hinderniserkennung und abstandmessung mittels infrarot
ATE423981T1 (de) Erkennung und reduktion periodischer störsignale in gps-empfängern und verfahren dafür
IL143374A0 (en) Anomaly detection based on signal variations
ITTO20010035A0 (it) Procedimento e sistema per misurare la distanza di un corpo mobile dauna parte fissa.
KR101893374B1 (ko) 시각장애인용 지팡이
FR2825147B1 (fr) Appareil de detection de position et appareil de detection d'anomalie
ITRM20010045A0 (it) Sistema e metodo per la rilevazione della posizione relativa di un oggetto rispetto ad un punto di riferimento.
JP4174449B2 (ja) 移動体の位置検知システム
US20130120139A1 (en) Locating system for locating and tracking an object
US11921515B1 (en) System and method for confining robotic devices
US20160229059A1 (en) Robot Repelling System and Method for Repelling a Robotic Device
HUP0400969A2 (en) Wireless, especially mobile, communication device for communicating with communication devices in vehicles
KR20170065189A (ko) 시각 장애인을 위한 보행 안내 시스템
GB0027143D0 (en) Optical tracking method and apparatus
JP2019078617A (ja) モビリティ装置及びモビリティ装置における環境センシング方法
JP4499621B2 (ja) センサノード位置情報取得装置およびこれを利用したセンサノード位置情報取得システム
ATE440296T1 (de) Verfahren zum detektieren eines hindernisses in dem detektionsbereich einer detektionsvorrichtung

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties