CN103220955A - 清洁机器人***及其控制方法 - Google Patents
清洁机器人***及其控制方法 Download PDFInfo
- Publication number
- CN103220955A CN103220955A CN2011800554806A CN201180055480A CN103220955A CN 103220955 A CN103220955 A CN 103220955A CN 2011800554806 A CN2011800554806 A CN 2011800554806A CN 201180055480 A CN201180055480 A CN 201180055480A CN 103220955 A CN103220955 A CN 103220955A
- Authority
- CN
- China
- Prior art keywords
- external device
- robot
- clean robot
- signal
- cleaning
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009184 walking Effects 0.000 claims description 24
- 230000001149 cognitive effect Effects 0.000 claims description 17
- 238000007600 charging Methods 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 8
- 238000011017 operating method Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000019771 cognition Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000011664 signaling Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000026676 system process Effects 0.000 description 1
Images
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
- G05D1/0231—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
- 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
- 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)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2010-0092326 | 2010-09-20 | ||
KR1020100092326A KR101021267B1 (ko) | 2010-09-20 | 2010-09-20 | 청소로봇 시스템 및 그 제어 방법 |
PCT/KR2011/003072 WO2012039537A1 (en) | 2010-09-20 | 2011-04-27 | Cleaning robot system and its method for controling |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103220955A true CN103220955A (zh) | 2013-07-24 |
CN103220955B CN103220955B (zh) | 2015-12-09 |
Family
ID=43938738
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201180055480.6A Active CN103220955B (zh) | 2010-09-20 | 2011-04-27 | 清洁机器人***及其控制方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20130199570A1 (zh) |
EP (1) | EP2618710A4 (zh) |
KR (1) | KR101021267B1 (zh) |
CN (1) | CN103220955B (zh) |
WO (1) | WO2012039537A1 (zh) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105193353A (zh) * | 2014-06-12 | 2015-12-30 | 联润科技股份有限公司 | 自走式清洁设备的充电装置 |
WO2016062145A1 (zh) * | 2014-10-23 | 2016-04-28 | 江苏美的清洁电器股份有限公司 | 扫地机器人及其充电座 |
WO2016070835A1 (zh) * | 2014-11-07 | 2016-05-12 | 科沃斯机器人有限公司 | 引导式虚拟墙*** |
CN105873488A (zh) * | 2013-12-06 | 2016-08-17 | 阿尔弗雷德·凯驰两合公司 | 清洁*** |
CN106163973A (zh) * | 2014-01-31 | 2016-11-23 | 株式会社宇宙生命 | 饮水机单元 |
CN106155049A (zh) * | 2015-04-15 | 2016-11-23 | 小米科技有限责任公司 | 智能清洁设备及其引导方法、引导桩、智能清洁*** |
CN106843239A (zh) * | 2017-04-11 | 2017-06-13 | 珠海市微半导体有限公司 | 基于地图预测的机器人运动控制方法 |
CN107485334A (zh) * | 2016-06-12 | 2017-12-19 | 王方明 | 公共清扫机器人*** |
CN108292465A (zh) * | 2015-10-05 | 2018-07-17 | 概念形成有限公司 | 卫生推动*** |
WO2018196800A1 (zh) * | 2017-04-28 | 2018-11-01 | 深圳乐动机器人有限公司 | 机器人虚拟墙*** |
CN108888203A (zh) * | 2018-06-04 | 2018-11-27 | 于彦霞 | 一种分离式自动地面清洁机器人的控制方法 |
CN110113978A (zh) * | 2016-12-30 | 2019-08-09 | Lg电子株式会社 | 包括充电站的机器人清洁器*** |
CN110450152A (zh) * | 2019-06-24 | 2019-11-15 | 广东宝乐机器人股份有限公司 | 区域识别方法、机器人和存储介质 |
CN111185900A (zh) * | 2018-11-14 | 2020-05-22 | 科沃斯机器人股份有限公司 | 机器人控制方法及清洁机器人 |
US11144064B2 (en) | 2017-04-11 | 2021-10-12 | Amicro Semiconductor Co., Ltd. | Method for controlling motion of robot based on map prediction |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103284662B (zh) * | 2012-03-02 | 2016-09-21 | 恩斯迈电子(深圳)有限公司 | 清扫***及其控制方法 |
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 |
CN104898670B (zh) * | 2015-04-30 | 2016-08-24 | 深圳市普森斯科技有限公司 | 智能拖地***及其控制方法 |
USD760649S1 (en) | 2015-06-22 | 2016-07-05 | Mtd Products Inc | Docking station |
USD813761S1 (en) * | 2015-07-29 | 2018-03-27 | Lr Acquisition, Llc | Controller of an unmanned aerial vehicle |
CN105319965B (zh) * | 2015-11-27 | 2019-09-27 | 苏州爱普电器有限公司 | 自移动机器人制约*** |
KR102392113B1 (ko) * | 2016-01-20 | 2022-04-29 | 삼성전자주식회사 | 전자 장치 및 전자 장치의 음성 명령 처리 방법 |
KR102024092B1 (ko) * | 2017-07-12 | 2019-09-23 | 엘지전자 주식회사 | 이동 로봇 시스템 및 그 제어방법 |
CN107601194B (zh) * | 2017-09-30 | 2023-10-31 | 樱花电梯(中山)有限公司 | 一种电梯装置、机电控制模组及电梯自动清扫*** |
CN111949015A (zh) * | 2019-04-29 | 2020-11-17 | 燕成祥 | 一种虚拟墙装置与机器人及其控制方法 |
CN110385719B (zh) * | 2019-07-23 | 2020-08-28 | 珠海市一微半导体有限公司 | 机器人判断是否碰撞虚拟墙的方法和芯片以及智能机器人 |
USD965517S1 (en) | 2020-10-19 | 2022-10-04 | Amazon Technologies, Inc. | Docking station |
USD1032509S1 (en) | 2021-04-23 | 2024-06-25 | Mtd Products Inc | Docking station |
USD976826S1 (en) * | 2022-03-24 | 2023-01-31 | Guangyu Hua | Charger for robotic vacuum cleaner |
USD980162S1 (en) * | 2022-03-24 | 2023-03-07 | Guangyu Hua | Charger for robotic vacuum cleaner |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
JP2005211359A (ja) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | 自律走行ロボットクリーナーシステム |
KR100575703B1 (ko) * | 2004-11-10 | 2006-05-03 | 엘지전자 주식회사 | 로봇청소기의 충전대 복귀시스템 및 방법 |
CN1849989A (zh) * | 2006-03-29 | 2006-10-25 | 熊圣友 | 全自动型吸尘器的控制电路 |
KR100795541B1 (ko) * | 2006-09-05 | 2008-01-21 | 엘지전자 주식회사 | 로봇시스템 및 그 동작방법 |
CN101301186A (zh) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 四段式清扫机器人 |
CN101380216A (zh) * | 2007-09-03 | 2009-03-11 | 泰怡凯电器(苏州)有限公司 | 一种自动吸尘器用的充电座及其自动吸尘器 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5926909A (en) * | 1996-08-28 | 1999-07-27 | Mcgee; Daniel | Remote control vacuum cleaner and charging system |
US5995884A (en) * | 1997-03-07 | 1999-11-30 | Allen; Timothy P. | Computer peripheral floor cleaning system and navigation method |
EP1441632B1 (en) * | 2001-09-26 | 2013-05-01 | F. Robotics Acquisitions Ltd. | Robotic vacuum cleaner |
US8428778B2 (en) * | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
KR100466321B1 (ko) * | 2002-10-31 | 2005-01-14 | 삼성광주전자 주식회사 | 로봇청소기와, 그 시스템 및 제어방법 |
KR100492592B1 (ko) * | 2003-04-04 | 2005-06-03 | 엘지전자 주식회사 | 로봇 청소기의 자동충전 시스템 및 복귀방법 |
-
2010
- 2010-09-20 KR KR1020100092326A patent/KR101021267B1/ko not_active IP Right Cessation
-
2011
- 2011-04-27 CN CN201180055480.6A patent/CN103220955B/zh active Active
- 2011-04-27 EP EP11826965.3A patent/EP2618710A4/en not_active Withdrawn
- 2011-04-27 WO PCT/KR2011/003072 patent/WO2012039537A1/en active Application Filing
- 2011-04-27 US US13/825,150 patent/US20130199570A1/en not_active Abandoned
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
JP2005211359A (ja) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | 自律走行ロボットクリーナーシステム |
KR100575703B1 (ko) * | 2004-11-10 | 2006-05-03 | 엘지전자 주식회사 | 로봇청소기의 충전대 복귀시스템 및 방법 |
CN1849989A (zh) * | 2006-03-29 | 2006-10-25 | 熊圣友 | 全自动型吸尘器的控制电路 |
KR100795541B1 (ko) * | 2006-09-05 | 2008-01-21 | 엘지전자 주식회사 | 로봇시스템 및 그 동작방법 |
CN101380216A (zh) * | 2007-09-03 | 2009-03-11 | 泰怡凯电器(苏州)有限公司 | 一种自动吸尘器用的充电座及其自动吸尘器 |
CN101301186A (zh) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 四段式清扫机器人 |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105873488B (zh) * | 2013-12-06 | 2017-11-28 | 阿尔弗雷德·凯驰两合公司 | 清洁*** |
CN105873488A (zh) * | 2013-12-06 | 2016-08-17 | 阿尔弗雷德·凯驰两合公司 | 清洁*** |
CN106163973A (zh) * | 2014-01-31 | 2016-11-23 | 株式会社宇宙生命 | 饮水机单元 |
CN106163973B (zh) * | 2014-01-31 | 2018-06-12 | 株式会社宇宙生命 | 饮水机单元 |
CN105193353A (zh) * | 2014-06-12 | 2015-12-30 | 联润科技股份有限公司 | 自走式清洁设备的充电装置 |
CN105581736B (zh) * | 2014-10-23 | 2018-06-08 | 江苏美的清洁电器股份有限公司 | 扫地机器人及其充电座 |
WO2016062145A1 (zh) * | 2014-10-23 | 2016-04-28 | 江苏美的清洁电器股份有限公司 | 扫地机器人及其充电座 |
CN105581736A (zh) * | 2014-10-23 | 2016-05-18 | 江苏美的清洁电器股份有限公司 | 扫地机器人及其充电座 |
WO2016070835A1 (zh) * | 2014-11-07 | 2016-05-12 | 科沃斯机器人有限公司 | 引导式虚拟墙*** |
CN106155049A (zh) * | 2015-04-15 | 2016-11-23 | 小米科技有限责任公司 | 智能清洁设备及其引导方法、引导桩、智能清洁*** |
CN108292465A (zh) * | 2015-10-05 | 2018-07-17 | 概念形成有限公司 | 卫生推动*** |
CN107485334A (zh) * | 2016-06-12 | 2017-12-19 | 王方明 | 公共清扫机器人*** |
CN110113978A (zh) * | 2016-12-30 | 2019-08-09 | Lg电子株式会社 | 包括充电站的机器人清洁器*** |
CN106843239A (zh) * | 2017-04-11 | 2017-06-13 | 珠海市微半导体有限公司 | 基于地图预测的机器人运动控制方法 |
US11144064B2 (en) | 2017-04-11 | 2021-10-12 | Amicro Semiconductor Co., Ltd. | Method for controlling motion of robot based on map prediction |
WO2018196800A1 (zh) * | 2017-04-28 | 2018-11-01 | 深圳乐动机器人有限公司 | 机器人虚拟墙*** |
CN108888203A (zh) * | 2018-06-04 | 2018-11-27 | 于彦霞 | 一种分离式自动地面清洁机器人的控制方法 |
CN111185900A (zh) * | 2018-11-14 | 2020-05-22 | 科沃斯机器人股份有限公司 | 机器人控制方法及清洁机器人 |
CN111185900B (zh) * | 2018-11-14 | 2023-08-29 | 科沃斯机器人股份有限公司 | 机器人控制方法及清洁机器人 |
CN110450152A (zh) * | 2019-06-24 | 2019-11-15 | 广东宝乐机器人股份有限公司 | 区域识别方法、机器人和存储介质 |
Also Published As
Publication number | Publication date |
---|---|
KR101021267B1 (ko) | 2011-03-11 |
WO2012039537A1 (en) | 2012-03-29 |
US20130199570A1 (en) | 2013-08-08 |
EP2618710A1 (en) | 2013-07-31 |
CN103220955B (zh) | 2015-12-09 |
EP2618710A4 (en) | 2014-11-26 |
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Owner name: YOTTA PARTNERS, INC. Free format text: FORMER OWNER: MONEUAL INC. Effective date: 20150601 Owner name: EVERYBOT INC. Free format text: FORMER OWNER: YOTTA PARTNERS, INC. Effective date: 20150601 |
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Effective date of registration: 20150601 Address after: Gyeonggi Do, South Korea Applicant after: EVERYBOT Inc. Address before: Seoul, South Kerean Applicant before: Tower company partners Effective date of registration: 20150601 Address after: Seoul, South Kerean Applicant after: Tower company partners Address before: Seoul, South Korea Applicant before: Manuel |
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