CN106998980B - 使用激光传感器检测地板类型 - Google Patents

使用激光传感器检测地板类型 Download PDF

Info

Publication number
CN106998980B
CN106998980B CN201480083712.2A CN201480083712A CN106998980B CN 106998980 B CN106998980 B CN 106998980B CN 201480083712 A CN201480083712 A CN 201480083712A CN 106998980 B CN106998980 B CN 106998980B
Authority
CN
China
Prior art keywords
cleaning device
robotic cleaning
robotic
bright section
controller
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.)
Active
Application number
CN201480083712.2A
Other languages
English (en)
Other versions
CN106998980A (zh
Inventor
A·黑格马克
P·福斯贝里
M·林德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electrolux AB
Original Assignee
Electrolux AB
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
Application filed by Electrolux AB filed Critical Electrolux AB
Publication of CN106998980A publication Critical patent/CN106998980A/zh
Application granted granted Critical
Publication of CN106998980B publication Critical patent/CN106998980B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A47L9/2805—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
    • 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
    • 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
    • A47L9/2836—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
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • 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
    • G05D1/0246—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
    • 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
    • G05D1/0246—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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Analytical Chemistry (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

本发明涉及一种机器人清洁设备(10)以及一种在该机器人清洁设备处检测表面(31)的结构的方法，该机器人清洁设备在该表面上移动。机器人清洁设备(10)检测该清洁设备在其上移动的表面(31)的结构的方法包括：使用结构化的竖直光(30)照亮(S101)该表面、捕捉(S102)该表面的图像(37)、检测(S103)所捕捉的图像中的至少一个光亮区段、根据该至少一个光亮区段的外观确定(S104)该表面的结构。

Description

使用激光传感器检测地板类型
技术领域
本发明涉及一种机器人清洁设备以及一种在该机器人清洁设备处检测表面的结构的方法，该机器人清洁设备在该表面上移动。
背景技术
在许多技术领域中，希望使用具有自主行为的机器人，因而使得它们可以在一个空间周围自由地移动而不与可能的障碍物碰撞。
机器人真空吸尘器在本领域是已知的、装备有呈一个或多个电机形式的驱动装置用于使该吸尘器在待清洁的表面上移动。机器人真空吸尘器进一步装备有呈用于引起自主行为的微处理器和导航装置形式的智能，使得机器人真空吸尘器能够自由地来回移动并且清洁呈例如房间形式的空间。因此，这些现有技术机器人真空吸尘器具有或多或少地自主地对其中具有家具(如桌椅)以及其他障碍物(如墙和楼梯)的房间进行真空吸尘的能力。
但是，现有机器人真空吸尘器并没有检测其正在运行的表面的类型。一个例外是伊莱克斯(Electrolux)研发的所谓的Trilobite吸尘器，该吸尘器使用其加速度计或陀螺仪检测表面不平的程度、并且同样测量刷辊电机的电流。刷辊电机在其上驱动的地毯越厚，刷辊电机消耗的电流越多。使用加速度计或陀螺仪的问题是很难检测出刷辊本身造成的振动差以及不平的地板造成的振动差。使用刷辊电流的问题是在所有表面上电流具有典型的随机变化，所以测得的电流需要被低通过滤，从而使得检测缓慢。
对于机器人真空吸尘器，重要的是知晓该机器人真空吸尘器横越的表面是哪一种类型(硬地板、瓷砖、地毯等)，出于两个主要原因：第一，通过将风机和/或刷子的速度与机器人真空吸尘器横越的表面的具体类型相适配能够提高机器人真空吸尘器的集尘能力。第二，相比于例如在镶木地板上，能够预期的是机器人真空吸尘器的轮子在地毯上滑动得更多，并且这对于导航目的是有价值去知晓的。
发明内容
本发明的目的是解决或至少减轻本领域中的这个问题，并且提供一种在该机器人清洁设备处检测表面的结构的方法，该机器人清洁设备在该表面上移动。
这个目的在本发明的第一方面是通过一种机器人清洁设备检测表面的结构的方法达到的，该机器人清洁设备在该表面上移动。该方法包括：使用结构化的竖直光照亮该表面，捕捉该表面的图像，检测所捕捉的表面中的至少一个光亮区段、并且根据该至少一个光亮区段的外观确定该表面的结构。
这个目的在本发明的第二方面是通过机器人清洁设备被配置为检测表面的结构达到的，该机器人清洁设备在该表面上移动。该机器人清洁设备包括安排为使该机器人清洁设备在表面上移动的推进***、被安排成使用结构化的竖直光照亮该表面的至少一个光源、以及被安排成捕捉所照亮的表面的图像的相机设备。进一步地，该机器人清洁设备包括被安排为控制该推进***移动机器人清洁设备的控制器，并且其中，该控制器进一步被安排为控制该相机设备捕捉表面的图像、检测所捕捉的图像的至少一个光亮区段、以及根据该至少一个光亮区段的外观确定该表面的结构。
有利地，该机器人清洁设备的控制器控制该结构化的竖直光源(例如第一和第二竖直线激光器中的至少一者)使用激光照亮机器人清洁设备附近并且进一步控制相机捕捉所照亮的周围环境的图像。在捕捉到的图像中，发出的激光光束将作为控制器检测到的光亮区段出现。机器人清洁设备的控制器可以根据所检测到的光亮区段的外观确定表面的结构，机器人清洁设备在该表面上移动。
如以上所述的，对于机器人真空吸尘器，重要的是知晓该机器人真空吸尘器横越的表面是哪一种类型(硬地板、瓷砖、地毯等)，出于两个原因：第一，通过将风机和/或刷子的速度与机器人真空吸尘器横越的表面的具体类型相适配能够提高机器人真空吸尘器的集尘能力。第二，相比于例如在镶木地板上，能够预期的是机器人真空吸尘器的轮子在地毯上滑动得更多，并且这对于导航目的是有价值去知晓的。
在本发明的一个实施例中，如果在捕捉的(多张)图像中检测到的至少一个光亮区段由直且平滑的线组成，则该表面被确定为包括平坦的地板。
在本发明的另一实施例中，如果在捕捉的(多张)图像中检测到的至少一个光亮区段由直且有噪声的线组成，则该表面被确定为包括具有结构化上侧的地毯。
在本发明的又另一个实施例中，如果该至少一个光亮区段由被分段成多个竖直线段的直线组成，则该表面被确定为包括小地毯。
以下将描述本发明的优选实施例。
总的来说，除非另有明确定义，在权利要求中所使用的所有术语是根据它们在技术领域中的普通含义来解释的。除非另有明确声明，所有引用的“一/一个/元件、装置、部件、手段、步骤等”是如参考该元件、装置、部件、手段、步骤等中的至少一个实例开放性解释的。除非明确声明，本文中披露的任何方法的步骤不必完全按照所披露的顺序执行。
附图简要说明
现在将通过举例的方式通过参考附图来描述本发明，在附图中：
图1示出了根据本发明实施例的机器人清洁设备的底视图；
图2示出了图1中所示的机器人清洁设备的正视图；
图3a示出了根据本发明的一个实施例的机器人清洁设备正在实施该方法；
图3b展示了机器人清洁设备捕捉的图3a的环境的图像；
图3c展示了根据本发明的方法的一个实施例的流程图；
图4a示出了根据本发明的另一个实施例的机器人清洁设备正在实施该方法；
图4b展示了机器人清洁设备捕捉的图4a中的环境的图像；
图5a示出了根据本发明的另一个实施例的机器人清洁设备正在实施该方法；并且
图5b展示了通过图5a中环境的机器人清洁设备捕获的图像。
具体实施方式
现在将参照这些附图在下文中更为全面地描述本发明，在附图中示出了本发明的某些实施例。然而本发明可以采用许多不同的形式来实施，并且不应被解释为局限于在此阐述的实施例；而是，这些实施例是以举例方式提供的，这样使得本披露将变得全面和完整，并且将向本领域技术人员充分地表示本发明的范围。贯穿本说明书，相同的数字指代相同的元件。
本发明涉及机器人清洁设备，或者换言之，涉及用于清洁表面的自动自推进机器，例如，机器人真空吸尘器、机器人清洁器或机器人地板洗涤器。根据本发明的机器人清洁设备能够用市电操作并且具有电绳、能够用电池操作或者使用任何其他种类的合适的能源，例如，太阳能。
图1示出了从下方观看的根据本发明的实施例的机器人清洁设备10，即，示出了机器人清洁设备的底侧。箭头指示机器人清洁设备的前进方向。机器人清洁设备10包括主体11，该主体容纳诸如推进***的多个部件，该推进***包括呈能够使驱动轮12、13移动的两个电动轮电机15a、15b形式的驱动装置，从而使得清洁设备能够在有待清洁的表面上移动。每个轮电机15a、15b能够控制各自的驱动轮12、13彼此独立地旋转以便使机器人清洁设备10在待清洁的表面上移动。可以设想许多不同的驱动轮安排以及各种不同的轮电机安排。应注意的是，机器人清洁设备可以任何具有合适的形状，如具有更多传统的圆形主体或三角形主体的设备。作为替代方案，可以使用跟踪推进***或甚至气垫船推进***。该推进***可以进一步被安排为引起机器人清洁设备10进行偏摆、俯仰、平移或滚动移动中的任一项或多项。
控制器16(如微处理器)鉴于从障碍物检测设备(图1中未示出)接收的信息来控制这些轮电机15a、15b根据需要使驱动轮12、13旋转，该障碍物检测设备用于检测机器人清洁设备必须绕其导航的、处于墙壁、落地灯、桌腿形式的障碍物。障碍物检测设备可以以记录其周围环境借助于例如3D相机、与激光器、激光扫描仪组合的相机实现的3D传感器***等形式被实施，用于检测障碍物并将关于任何检测到的障碍物的信息传达到微处理器16。微处理器16与轮电机15a、15b通信，以便根据由障碍物检测设备提供的信息来控制轮12、13的移动，使得机器人清洁设备10能够根据需要在有待清洁的表面上移动。这将参照后边的附图进行更详细的描述。
另外，主体11可以可选地安排有用于从待清洁的表面上除去碎屑和灰尘的清洁构件17，该清洁构件呈安排在机器人吸尘器10的底部处的开口18中的可旋转刷辊的形式。因此，可旋转刷辊17沿水平轴线安排在开口18中，以增强清洁设备10的灰尘和碎屑收集特性。为了使刷辊17旋转，刷辊电机19操作地联接到刷辊上，以根据从控制器16接收的指令控制其旋转。
而且，机器人吸尘器10的主体11包括抽风机20，该抽风机创造气流以便经由主体11的底侧中的开口18将碎屑运输到被容纳在该主体中的集尘袋或旋流器安排(未示出)。抽风机20被通信地连接到控制器16上的风扇电机21驱动，风机电机21从该控制器接收用于控制抽风机20的指令。应注意的是，可以设想机器人清洁设备具有可旋转刷辊17和抽风机20中的任一者用于将碎屑运送到集尘袋。然而，这两个的组合会增强机器人清洁设备10的除屑能力。
主体11或机器人清洁设备10进一步装备有角度测量设备24，例如像陀螺仪24和/或加速计或任何其他适合用于测量机器人清洁设备10的方向的设备。三轴陀螺仪能够测量计算机清洁设备10的滚动、俯仰、偏摆移动的转速。三轴陀螺仪能够测量所有方向的加速度，这主要用来确定计算机清洁设备是否被阻挡或被抬升或是否被卡住(即，即使轮子正在转但并没有移动)。机器人清洁设备10在每个驱动轮12、13上进一步包括编码器(在图1中未示出)，在这些轮子旋转时该编码器产生脉冲。这些脉冲可以是磁性的或光学的。通过在控制器16处对脉冲计数可以确定每个轮子12、13的速度。通过轮速读数与陀螺仪信息相结合，控制器16可以执行所谓的航位推算以便确定清洁设备10的位置与航向。
主体11可以进一步安排有邻近开口18的旋转侧刷14，可以通过驱动电机15a、15b、刷辊电机19或可替代地单独的侧刷电机(未示出)来控制旋转侧刷的旋转。有利地，旋转侧刷14从有待清洁的表面扫起碎屑和灰尘，从而使得灰尘在开口18处最终来到主体11的下方，并因此能够运输到机器人清洁设备的集尘室。进一步地有利的是，将提高机器人清洁设备10的到达率，并更有效地清洁例如角落和地板与墙壁交汇的区域。如图1所展示的，旋转侧刷14朝一个方向旋转，从而使得它朝向开口18扫起碎屑，从而使得抽风机20能够将碎屑运输到集尘室。机器人清洁设备10可以包括两个旋转侧刷，这两个旋转侧刷被侧向地安排在开口18的每一侧并邻近该开口。
另外参照图1，以一个或多个微处理器形式实施的控制器/处理单元16被安排为执行被下载到与该微处理器相关联的合适的存储介质26中的计算机程序25，该存储介质例如是随机存取存储器(RAM)、快闪存储器或硬盘驱动器。控制器16被安排为在包括计算机可执行指令的适当计算机程序25被下载至存储介质26并且被控制器16执行时实施根据本发明的多个实施例的方法。存储介质26还可以是包括计算机程序25的一种计算机程序产品。替代地，计算机程序25可以通过合适的计算机程序产品(如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒)来传递至存储介质26。作为另外一个替代方案，计算机程序25可以通过网络下载至存储介质26。控制器16可以替代地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)等的形式来实施。
图2示出了本发明的实施例中的图1的机器人清洁设备10的正视图，展示了呈3D传感器***22形式的前述障碍物检测设备，该相机***包括至少一个相机23以及第一和第二线激光器27、28，这些线激光器可以是水平或竖直定向的线激光器。进一步示出了前面参照图1a讨论的控制器16、主体11、驱动轮12、13和可旋转刷辊17。控制器16操作性地联接到用于记录机器人清洁设备10的附近的图像的相机23。第一和第二线激光器27、28可以优选地是竖直线激光器并且被安排在相机23的侧面并且被配置为照亮比机器人清洁设备10的高度和宽度更大的高度和宽度。进一步地，相机23的视场角度优选地小于第一线激光器和第二线激光器27、28照亮的空间。相机23由控制器16控制来每秒捕捉和记录多张图像。通过控制器16从这些图像中提取数据，并且通常将数据与计算机程序25一起保存在存储器26中。
第一线激光器和第二线激光器27、28沿着垂直于该相机的光轴的一条轴线被安排在相机23的相应侧上。另外，线激光器27、28被定向成使得它们的相应激光束在相机23的视场内相交。典型地，交点与相机23的光轴重合。
第一和第二线激光器27、28被配置为优选地朝竖直朝向、正常朝机器人清洁设备10的移动方向扫描机器人清洁设备10的附近。第一线激光器和第二线激光器27、28被配置为发出照亮例如待清洁的房间里的家具、墙壁和其他物体的激光束。在机器人清洁设备10在有待清洁的表面上移动时，相机23被控制器16控制，以捕捉并记录图像，通过从这些图像提取特征并通过测量被机器人清洁设备10覆盖的距离，控制器16从这些图像创建机器人清洁设备10在其中操作的周围环境的表示或布局。因此，控制器16从所记录的图像中得到机器人清洁设备10相对于待清洁的表面的位置数据、从得到的位置数据中生成周围环境的3D表示、并且控制驱动电机15a、15b来使机器人清洁设备根据提供给机器人清洁设备10的生成的3D表示和导航信息来移动，使得能够在考虑到所生成的3D表示的情况下对有待清洁的表面导航。因为得到的位置数据会用作机器人清洁设备的导航基础，所以定位正确是重要的；机器人设备会以其他方式根据误导的其周围环境的“地图”来进行导航。
从3D传感器***22记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿形式的、机器人清洁设备必须在其周围导航的障碍物以及机器人清洁设备10必须横越的小地毯、地毯、门阶等进行检测。机器人清洁设备10因此被配置为通过运行/清洁来了解其环境或者周围环境。
参照图2，为了说明目的，3D传感器***22是与机器人清洁设备10的主体11分开的。然而，在一种实际实现方式中，3D传感器***22优选地与机器人清洁设备10的主体11整合，以尽量减小机器人清洁设备10的高度，由此使得其在障碍物(例如沙发)的下方穿过。
因此，包括相机23和第一竖直线激光器和第二竖直线激光器27、28的3D传感器***22被安排为记录机器人清洁设备的附近的图像，可以从这些图像检测到物体/障碍物。控制器16能够通过从所记录的图像中得到位置数据来相对于检测到的障碍物对机器人清洁设备10并且因此对有待清洁的表面进行定位。从定位开始，控制器16通过经由轮子驱动电机15a、15b控制轮子12、13越过待清洁的表面来控制机器人清洁设备10的移动。
得到的位置数据帮助控制机器人清洁设备10的移动，使得清洁设备可以被导航移动非常靠近物体，并且在物体周围紧密移动，以从物体所在的表面上除去碎屑。所以，利用得到的位置数据来与物体(例如是厚的小地毯或墙壁)齐平地移动。通常，控制器16经由驱动电机15a、15b连续生成传递控制信号至驱动轮12、13，使得使机器人清洁设备10靠近物体导航。
图3a展示了根据本发明的实施例的对表面的结构的检测，机器人清洁设备在该表面上移动。为了说明目的，示出了机器人设备10的一个竖直线激光器27。如可以看到的，线激光器27将激光束30投射到待清洁的房间的地板31以及第一墙壁32上。为了将环境光的不利影响最小化，任选地控制线激光器27来以最高可能的功率发光。另外，可以在相机23的前方安排滤光器以便使该相机更加可感知线激光器27所发出的光。因此，滤光器适配于线激光器27发出的结构化光的波长。这在存在例如通过第二墙壁33上的窗户34进入房间的阳光引起的固定光源的情况下甚至更有利，产生了两个固定安排的光源35、36，通过相机23可以不期望地检测到这些光源。
图3b展示了机器人设备的相机23捕捉的图3a中所展示的周围环境的图像37，在该图像中，机器人在其上移动的表面31是平坦并且光滑的，如镶木地板或一块油地毡。
图3c展示了根据本发明的实施例的检测表面的结构的方法的流程图，机器人清洁设备在该表面上移动。在第一步骤S101中，3D传感器***22的第一和第二竖直线激光器27、28使用竖直激光线30照亮机器人清洁设备10的附近。应注意的是，一个线激光器用于说明的目的，但是在实践中，通常使用两个竖直线激光器27、28，如图2所示。如图3a中可以看到的，光束30照亮待清洁房间的表面31(在本案例中，是平坦的地板)以及第一墙壁32。此后，在步骤S102中，3D传感器***22的相机23捕捉所照亮的周围环境的图像37。
在捕捉到的图3b的图像37中，激光束将作为在S103中由机器人设备10检测的光亮区段30出现。现在，在步骤S104中，机器人设备10可以根据所捕捉的图像37中的光亮区段30的外观来确定表面31的结构，该机器人在该表面上移动。
例如，参照图3b中捕捉的图像37，如果表面31是平坦且光滑的地板，如镶木地板，检测到的光亮区段30将包括狭窄的直线，该直线是明显的并且不受噪声影响。
有利地，通过确定表面31的结构可以改善多个清洁方面，机器人10在该表面上移动。例如，如果机器人设备10在如镶木地板的平坦并且光滑的表面31上移动，可以使用低操作电流驱动抽风机20，并且刷辊17和/或侧刷14通常可以被驱动以低转速旋转，由此延长机器人设备电池充电之间的时间周期。进一步有利的是，可以取决于表面的结构控制机器人设备10的移动；例如，如果机器人设备10在地毯上移动，该机器人设备则可以较低速度驱动以便避免打滑和/或从地毯上或多于一次地在至少部分的地毯上走过。在另一个实例中，处于清洁程序的机器人设备10可以如作为该程序的最后一步选择走过地板的、地毯位于的区段。
图4a展示了根据本发明的另一个实施例的对表面的结构的地毯，机器人清洁设备在该表面上移动。如可以看到的，如图3a，线激光器27将激光束30投射到待清洁的房间的表面31以及第一墙壁32上。然而，在这个具体实施例中，具有结构化上侧的薄地毯38被放置在地板上并且被激光器27的光束30照亮。
图4b展示了机器人设备的相机23捕捉的图4a中展示的周围环境的图像37，在该图像中，机器人在其上移动的表面31是平坦并且光滑的，如镶木地板或一块油地毡，同时地毯38具有结构化上侧。其结果是，从平坦的镶木地板反射的光产生的光亮区段30将具有与图3b示出的相同的明显外观，然而结构化地毯38反射的光产生的光亮区段30a将会是有噪声的并且引起模糊线，该模糊线具有沿横向于竖直线激光器发出的激光的入射方向的方向的一些延伸。
因此，如果机器人设备10确定所捕捉的图像37中的光亮区段30a的外观是有噪声且模糊的，可以得出该表面是具有结构化上侧的地毯38的结论，相比于平坦且光滑的地板产生不同的光折射。
在这个具体实施例中，通过有利地确定结构化地毯将要被机器人设备10横越，可能有必要向抽风机20供应更大的操作电流、和以更高的转速旋转刷辊17和/或侧刷14。另外，相比于平坦且光滑的表面，可能有必要多于一次地走过地毯。
图5a展示了根据本发明的又一实施例的对表面的结构的检测，机器人清洁设备在该表面上移动。如可以看到的，如图3a，线激光器27将激光束30投射到待清洁的房间的表面31以及第一墙壁32上。但是，在这个具体实施例中，厚地毯39(例如，小地毯)被放置在地板上并且被激光器27的光束30照亮。
图5b展示了机器人设备的相机23捕捉的图5a中展示的周围环境的图像37，在该图像中，机器人在其上移动的表面31是平坦并且光滑的，如镶木地板或一块油地毡，同时小地毯39是参差不齐的并且通常包括从小地毯竖直向上延伸至距小地毯上侧几厘米的成片的纤维材料。其结果是，从平坦的镶木地板反射的光产生的光亮区段30将具有与图3b和图4b示出的相同的明显外观，然而从小地毯39反射的光产生的光亮区段30b将破碎成多个小的、基本上竖直线段。竖直线段的高度越高，小地毯就越厚。
因此，如果机器人设备10确定所捕捉的图像37的光亮区段30b的外观包括竖直线段，可以得出该表面是参差不齐的地毯39的结论。
在这个具体实施例中，通过有利地确定小地毯将要被机器人设备10横越，可能有必要向抽风机20供应更大的操作电流、和以甚至更高的转速旋转刷辊17和/或侧刷14。进一步地，可能有必要多于一次地走过地毯。而且，当机器人设备10在厚的小地毯39上移动时，可能要经受所谓的打滑，即，机器人的轮子正在转动但是机器人并没有移动(或者没有移动到轮子转动所预期的程度)。如前面已经讨论的，当使用航位推算时，轮子速度读数与陀螺仪信息相结合，并且控制器16可以确定机器人设备10的位置和航向。这是已知的方法，其中通过使用关于之前确定的位置的位置数据来计算当前位置。因此，在确定位置和航向时可以有利地考虑当机器人设备10横越小地毯39时所预期的轮子12、13的打滑。其结果是，控制器16可以有利地以更高的精度预测机器人10的位置并且适配驱动模式以便在位置估算中避免过多的错误。
上文主要参照一些实施例对本发明进行了描述。然而，本领域技术人员容易了解的是，除以上披露的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。

Claims (11)

1.一种机器人清洁设备(10)检测表面(31)的结构的方法，该机器人清洁设备在该表面上移动，该方法包括：
使用竖直线激光照亮(S101)该表面；
捕捉(S102)该表面的图像(37)；
检测(S103)所捕捉的图像中的至少一个光亮区段(30、30a、30b)；并且
该机器人清洁设备(10)根据该至少一个光亮区段(30、30a、30b)的外观确定(S104)该表面的结构，其中，如果该机器人清洁设备(10)确定该至少一个光亮区段(30)由直并且平滑的线组成，则该表面(31)被确定为包括平坦的地板，如果该机器人清洁设备(10)确定该至少一个光亮区段(30a)由直并且有噪声的线组成，则该表面(31)被确定为包括具有结构化上侧的地毯(38)，如果该机器人清洁设备(10)确定该至少一个光亮区段(30b)破碎成多个小的基本上竖直线段，则该表面(31)被确定为包括小地毯(39)。
2.如权利要求1所述的方法，其中，检测这些竖直线段的长度以确定该小地毯(39)的厚度。
3.如以上权利要求中任一项所述的方法，另外包括：
基于该表面(31)的所确定的结构控制该机器人清洁设备(10)的操作。
4.如权利要求3所述的方法，其中，控制该机器人清洁设备(10)的操作包括：
控制机器人清洁设备抽风机(20)的抽吸能力、该机器人清洁设备的刷辊(17)或侧刷(14)的转速、或该机器人清洁设备(10)在该表面(31)上的移动中的任一项或多项。
5.机器人清洁设备(10)，该机器人清洁设备被配置为检测表面(31)的结构，该机器人清洁设备在该表面上移动，该机器人清洁设备包括：
被安排为使该机器人清洁设备(10)在该表面(31)上移动的推进***(12，13，15a，15b)；
被安排为使用竖直线激光照亮该表面(31)的至少一个光源(27)；
被安排为捕捉该表面(31)的多张图像的相机设备(23)；
被安排为控制该推进***使该机器人清洁设备移动的控制器(16)；其中
该控制器(16)另外被安排为控制该相机设备捕捉该表面的图像(37)、检测所捕捉的图像中的至少一个光亮区段(30、30a、30b)、并且根据该至少一个光亮区段(30、30a、30b)的外观确定该表面的结构，其中如果该机器人清洁设备(10)确定该至少一个光亮区段(30)由直并且平滑的线组成，则该表面(31)被确定为包括平坦的地板，如果该机器人清洁设备(10)确定该至少一个光亮区段(30a)由直并且有噪声的线组成，则该表面(31)被确定为包括具有结构化上侧的地毯(38)，如果该机器人清洁设备(10)确定该至少一个光亮区段(30b)破碎成多个小的基本上竖直线段，则该表面(31)被确定为包括小地毯(39)。
6.如权利要求5所述的机器人清洁设备(10)，所述至少一个光源包括：
被安排为照亮该表面(31)的第一竖直线激光器(27)和第二竖直线激光器(28)。
7.如权利要求6所述的机器人清洁设备(10)，其中，所述第一竖直线激光器(27)和所述第二竖直线激光器(28)沿着一条垂直于该相机设备(23)的光轴的轴线而安排在该相机设备的相应侧上。
8.如权利要求5至7中任一项所述的机器人清洁设备(10)，该控制器(16)被另外安排为：
基于该表面(31)的所确定的结构控制该机器人清洁设备的操作。
9.如权利要求8所述的机器人清洁设备(10)，该控制器(16)被安排为当控制该机器人清洁设备(10)的操作时：
控制机器人清洁设备抽风机(20)的抽吸能力、该机器人清洁设备的刷辊(17)或侧刷(14)的转速、或该机器人清洁设备(10)在该表面(31)上的移动中的任一项或多项。
10.一种计算机程序(25)，包括多个计算机可执行指令，这些计算机可执行指令用于当在设备(10)中所包括的控制器(16)上执行这些计算机可执行指令时致使该设备进行如权利要求1至4中任一项所述的方法。
11.一种计算机程序产品，包括计算机可读介质(26)，该计算机可读介质具有在其中实施的根据权利要求10所述的计算机程序(25)。
CN201480083712.2A 2014-12-10 2014-12-10 使用激光传感器检测地板类型 Active CN106998980B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/077142 WO2016091291A1 (en) 2014-12-10 2014-12-10 Using laser sensor for floor type detection

Publications (2)

Publication Number Publication Date
CN106998980A CN106998980A (zh) 2017-08-01
CN106998980B true CN106998980B (zh) 2021-12-17

Family

ID=52023507

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480083712.2A Active CN106998980B (zh) 2014-12-10 2014-12-10 使用激光传感器检测地板类型

Country Status (4)

Country Link
US (1) US10877484B2 (zh)
EP (1) EP3230814B1 (zh)
CN (1) CN106998980B (zh)
WO (1) WO2016091291A1 (zh)

Families Citing this family (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7706917B1 (en) * 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8972052B2 (en) * 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
US11099554B2 (en) 2015-04-17 2021-08-24 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
CN108603935A (zh) * 2016-03-15 2018-09-28 伊莱克斯公司 机器人清洁设备以及机器人清洁设备进行陡壁检测的方法
WO2017200347A1 (ko) * 2016-05-20 2017-11-23 엘지전자 주식회사 로봇 청소기
WO2017200346A1 (ko) 2016-05-20 2017-11-23 엘지전자 주식회사 로봇 청소기
WO2017200343A1 (ko) 2016-05-20 2017-11-23 엘지전자 주식회사 로봇 청소기
WO2017200350A1 (ko) 2016-05-20 2017-11-23 엘지전자 주식회사 로봇 청소기
US10463212B2 (en) 2016-05-20 2019-11-05 Lg Electronics Inc. Autonomous cleaner
US10342405B2 (en) 2016-05-20 2019-07-09 Lg Electronics Inc. Autonomous cleaner
WO2017200345A1 (ko) 2016-05-20 2017-11-23 엘지전자 주식회사 로봇 청소기
WO2017200344A1 (ko) 2016-05-20 2017-11-23 엘지전자 주식회사 로봇 청소기
US10362916B2 (en) 2016-05-20 2019-07-30 Lg Electronics Inc. Autonomous cleaner
EP4154784A3 (en) 2016-05-20 2023-05-24 LG Electronics Inc. Robot cleaner
US10463221B2 (en) 2016-05-20 2019-11-05 Lg Electronics Inc. Autonomous cleaner
WO2018101631A2 (ko) * 2016-11-30 2018-06-07 (주)유진로봇 청소 로봇, 청소 로봇에 구비되는 청소 기능 제어 장치, 및 청소 로봇에 구비되는 다채널 라이더 기반 장애물 검출 장치
JP7243967B2 (ja) * 2017-06-02 2023-03-22 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の前方の表面のレベル差を検出する方法
JP7264584B2 (ja) * 2017-06-08 2023-04-25 東芝ライフスタイル株式会社 自律型電気掃除装置
WO2019061399A1 (zh) * 2017-09-30 2019-04-04 深圳拓邦股份有限公司 一种地面识别装置及清洁设备
EP3991625A1 (en) 2017-12-18 2022-05-04 Techtronic Floor Care Technology Limited Surface cleaning device for triggerless fluid distribution mechanism
US11382477B2 (en) * 2017-12-18 2022-07-12 Techtronic Floor Care Technology Limited Surface cleaning device with automated control
JP7141220B2 (ja) * 2018-01-22 2022-09-22 東芝ライフスタイル株式会社 自走式電気掃除機
CN109875466B (zh) * 2018-04-18 2021-02-19 松下家电研究开发（杭州）有限公司 一种擦地机器人的擦地方法
US11687092B2 (en) 2018-04-23 2023-06-27 Sharkninja Operating Llc Techniques for bounding cleaning operations of a robotic surface cleaning device within a region of interest
US11874399B2 (en) 2018-05-16 2024-01-16 Yujin Robot Co., Ltd. 3D scanning LIDAR sensor
DE102018208356A1 (de) * 2018-05-28 2019-11-28 Robert Bosch Gmbh Verfahren zum Bestimmen der Beschaffenheit eines Bodens
DE102019106227A1 (de) * 2019-03-12 2020-09-17 Vorwerk & Co. Interholding Gmbh Bodenbearbeitungsgerät und System aus einem Bodenbearbeitungsgerät und einem externen Endgerät
CN111938510A (zh) * 2019-05-17 2020-11-17 广东宝乐机器人股份有限公司 清洁机器人、表面类型检测方法及控制方法
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
US11571100B2 (en) * 2019-06-28 2023-02-07 Lg Electronics Inc Intelligent robot cleaner
CN112493924B (zh) * 2019-08-26 2023-03-10 苏州宝时得电动工具有限公司 清洁机器人及其控制方法
TWI732574B (zh) * 2020-06-01 2021-07-01 國立中央大學 三維環境覆蓋導向運動系統與方法
CN111743464A (zh) * 2020-07-06 2020-10-09 追创科技(苏州)有限公司 一种基于线激光的避障方法及装置
CN112034837A (zh) * 2020-07-16 2020-12-04 珊口（深圳）智能科技有限公司 确定移动机器人工作环境的方法、控制***及存储介质
CN112022003A (zh) * 2020-08-21 2020-12-04 苏州三六零机器人科技有限公司 扫地机器人及其控制方法、装置、计算机可读存储介质
US20220280001A1 (en) * 2020-12-07 2022-09-08 Guangdong Zhiyi Robotics Technology Company Limited Dust removal structure utilizing airflowwhirls, and dust collector
WO2024008279A1 (en) * 2022-07-05 2024-01-11 Aktiebolaget Electrolux Robotic cleaning device using optical sensor for navigation

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103853154A (zh) * 2012-12-05 2014-06-11 德国福维克控股公司 可行走的清洁设备和运行这种设备的方法
CN103948354A (zh) * 2014-05-05 2014-07-30 苏州爱普电器有限公司 一种地面清洁机器人及其控制方法

Family Cites Families (741)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1286321A (en) 1916-10-09 1918-12-03 Hoover Suction Sweeper Co Brush.
US1401007A (en) 1918-04-22 1921-12-20 Hoover Suction Sweeper Co Suction-sweeper
US3010129A (en) 1957-11-04 1961-11-28 Whirlpool Co Perambulating kitchen appliances and control means therefor
US3233274A (en) 1963-01-28 1966-02-08 Tennant Co G H Sweeping machine dust separator apparatus
US3550714A (en) 1964-10-20 1970-12-29 Mowbot Inc Lawn mower
US3570227A (en) 1969-01-16 1971-03-16 Mowbot Inc Self-propelled random motion lawnmower
DE2020220A1 (de) 1970-04-25 1971-11-11 Bosch Gmbh Robert Fahrzeug
GB1360261A (en) 1971-09-23 1974-07-17 Dixon Co Ltd R G Floor treating machines
CH566763A5 (zh) 1973-07-03 1975-09-30 Leifheit International
US4119900A (en) 1973-12-21 1978-10-10 Ito Patent-Ag Method and system for the automatic orientation and control of a robot
GB1500311A (en) 1975-01-10 1978-02-08 Dixon & Co Ltd R D Floor treating machines
US4036147A (en) 1975-03-28 1977-07-19 Westling Wayne A Rapid transit system
DE2533071C3 (de) 1975-07-24 1979-07-12 Leifheit International Guenter Leifheit Gmbh, 5408 Nassau Bodenkehrmaschine
JPS53104142A (en) 1977-02-23 1978-09-11 Takeda Riken Ind Co Ltd Analog memory
FR2445611A1 (fr) 1978-12-29 1980-07-25 Thomson Csf Generateur d'ondes radioelectriques pour hyperfrequence
GB2038615B (en) 1978-12-31 1983-04-13 Nintendo Co Ltd Self-moving type vacuum cleaner
US4369543A (en) 1980-04-14 1983-01-25 Jen Chen Remote-control radio vacuum cleaner
DE3100497A1 (de) 1981-01-09 1982-08-26 Leifheit International Günter Leifheit GmbH, 5408 Nassau "bodenkehrmaschine"
DE3478824D1 (en) 1983-10-26 1989-08-03 Automax Kk Control system for mobile robot
CH661981A5 (de) 1984-02-13 1987-08-31 Haenni & Cie Ag Optisches messgeraet zur beruehrungslosen abstandsmessung.
JPS6197711A (ja) 1984-10-18 1986-05-16 Casio Comput Co Ltd 赤外線追尾ロボツトシステム
US4800978A (en) 1984-11-09 1989-01-31 Nec Corporation Magnetic object detecting system for automated guided vehicle system
JPS6286414A (ja) 1985-10-12 1987-04-20 Daifuku Co Ltd 移動車の障害物検出装置
US4878003A (en) 1985-10-15 1989-10-31 Knepper Hans Reinhard Process and installation for the automatic control of a utility vehicle
JPH078271B2 (ja) 1985-11-08 1995-02-01 松下電器産業株式会社 自走式掃除機
JPS62120510A (ja) 1985-11-21 1987-06-01 Hitachi Ltd 自動掃除機の制御方法
JPS62152421A (ja) 1985-12-25 1987-07-07 松下電器産業株式会社 自走式掃除機
JPS62152424A (ja) 1985-12-25 1987-07-07 松下電器産業株式会社 自走式掃除機
JPH0732752B2 (ja) 1986-06-12 1995-04-12 松下電器産業株式会社 自走式掃除機
JPH07120196B2 (ja) 1986-11-18 1995-12-20 三洋電機株式会社 移動車の進行方向制御方式
WO1988004081A1 (en) 1986-11-28 1988-06-02 Denning Mobile Robotics, Inc. Node map system and method for vehicle
FR2620070A2 (fr) 1986-12-11 1989-03-10 Jonas Andre Unite mobile autoguidee et appareil de nettoyage tel qu'un aspirateur comportant une telle unite
JPH0824648B2 (ja) 1987-01-20 1996-03-13 松下電器産業株式会社 自走式掃除機
US4864511A (en) 1987-01-27 1989-09-05 Storage Technology Corporation Automated cartridge system
DE3703422A1 (de) 1987-02-05 1988-08-18 Zeiss Carl Fa Optoelektronischer abstandssensor
DE3704375A1 (de) 1987-02-12 1988-08-25 Wall Verkehrswerbung Gmbh Sanitaerzelle fuer oeffentliche zwecke
US5377106A (en) 1987-03-24 1994-12-27 Fraunhofer Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Process for navigating an unmanned vehicle and a vehicle for the same
JPH0786767B2 (ja) 1987-03-30 1995-09-20 株式会社日立製作所 自走ロボツトの走行制御方法
US4849067A (en) 1987-07-16 1989-07-18 Texas Instruments Incorporated Method for etching tungsten
US4872938A (en) 1987-07-16 1989-10-10 Texas Instruments Incorporated Processing apparatus
US4836905A (en) 1987-07-16 1989-06-06 Texas Instruments Incorporated Processing apparatus
US4886570A (en) 1987-07-16 1989-12-12 Texas Instruments Incorporated Processing apparatus and method
US4822450A (en) 1987-07-16 1989-04-18 Texas Instruments Incorporated Processing apparatus and method
US4838990A (en) 1987-07-16 1989-06-13 Texas Instruments Incorporated Method for plasma etching tungsten
US4842686A (en) 1987-07-17 1989-06-27 Texas Instruments Incorporated Wafer processing apparatus and method
JPH064133Y2 (ja) 1987-09-26 1994-02-02 株式会社クボタ 作業車の走行変速装置
JPH01180010A (ja) 1988-01-08 1989-07-18 Sanyo Electric Co Ltd 移動車
US4919224A (en) 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
JPH01175669U (zh) 1988-05-23 1989-12-14
US4954962A (en) 1988-09-06 1990-09-04 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US4918607A (en) 1988-09-09 1990-04-17 Caterpillar Industrial Inc. Vehicle guidance system
US4962453A (en) 1989-02-07 1990-10-09 Transitions Research Corporation Autonomous vehicle for working on a surface and method of controlling same
FR2648071B1 (fr) 1989-06-07 1995-05-19 Onet Procede et appareil autonomes de nettoyage automatique de sol par execution de missions programmees
JPH0313611A (ja) 1989-06-07 1991-01-22 Toshiba Corp 自動清掃装置
US5042861A (en) 1989-06-13 1991-08-27 Tennessee Valley Authority Nozzle dam remote installation system and technique
US5006302A (en) 1989-06-13 1991-04-09 Tennessee Valley Authority Nozzle dam remote installation system and technique
US4989818A (en) 1989-06-13 1991-02-05 Tennessee Valley Authority Nozzle dam remote installation system and technique
US4959192A (en) 1989-06-13 1990-09-25 Tennesse Valley Authority Nozzle dam translocating system
US5107946A (en) 1989-07-26 1992-04-28 Honda Giken Kogyo Kabushiki Kaisha Steering control system for moving vehicle
JPH0744911B2 (ja) 1989-08-09 1995-05-17 東京コスモス電機株式会社 掃除機
JP2652573B2 (ja) 1989-08-25 1997-09-10 博夫 庄司 ゴルフカート走行誘導法
JPH075922Y2 (ja) 1989-09-14 1995-02-15 近畿通信建設株式会社 既設配管用の面取装置
JPH03166074A (ja) 1989-11-27 1991-07-18 Sony Corp 自走ロボット
US5023444A (en) 1989-12-28 1991-06-11 Aktiebolaget Electrolux Machine proximity sensor
US5045118A (en) 1990-05-04 1991-09-03 Tennant Company Method of removing debris and dust from a carpet
US5307273A (en) 1990-08-29 1994-04-26 Goldstar Co., Ltd. Apparatus and method for recognizing carpets and stairs by cleaning robot
CA2092294C (en) 1990-09-24 2002-12-10 Andre Colens Continuous, self-contained mowing system
EP0479609A3 (en) 1990-10-05 1993-01-20 Hitachi, Ltd. Vacuum cleaner and control method thereof
US5086535A (en) 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
KR930000081B1 (ko) 1990-12-07 1993-01-08 주식회사 금성사 청소기의 자동 청소방법
JP3135587B2 (ja) 1991-01-28 2001-02-19 富士重工業株式会社 壁際清掃装置
US5155683A (en) 1991-04-11 1992-10-13 Wadiatur Rahim Vehicle remote guidance with path control
WO1993003399A1 (en) 1991-08-07 1993-02-18 Aktiebolaget Electrolux Obstacle detecting assembly
JP3094547B2 (ja) 1991-09-25 2000-10-03 松下電器産業株式会社 自走式電気掃除機の段差検知装置
JP3146563B2 (ja) 1991-09-26 2001-03-19 豊和工業株式会社 床面清掃ロボット
NL9200258A (nl) 1991-10-04 1993-05-03 Lely Nv C Van Der Werkwijze voor het reinigen van melkbekers en/of het nabehandelen van de spenen van een gemolken dier, inrichting voor het melken van dieren voor het toepassen van deze werkwijze(n), en spoelwerktuig toegepast in een dergelijke inrichting.
US5245177A (en) 1991-10-24 1993-09-14 Schiller Norman H Electro-optical system for detecting the presence of an object within a predetermined detection system
KR940006561B1 (ko) 1991-12-30 1994-07-22 주식회사 금성사 자동주행 청소용 로버트의 장애물 감지장치
JP3282206B2 (ja) 1992-01-14 2002-05-13 松下電器産業株式会社 移動作業ロボットの障害物検知装置
JPH05224745A (ja) 1992-02-07 1993-09-03 Matsushita Electric Ind Co Ltd 移動作業ロボット
JPH05228090A (ja) 1992-02-20 1993-09-07 Matsushita Electric Ind Co Ltd 自走式掃除機
US5568589A (en) 1992-03-09 1996-10-22 Hwang; Jin S. Self-propelled cleaning machine with fuzzy logic control
DK36192D0 (da) 1992-03-18 1992-03-18 Ole Nygaard Andersen Gulvrengoeringsmaskine
JPH0680203A (ja) 1992-03-24 1994-03-22 East Japan Railway Co 床面洗浄ロボットの制御方法
KR940004375B1 (ko) 1992-03-25 1994-05-23 삼성전자 주식회사 자주식 청소기의 구동방법
DE4211789C2 (de) 1992-04-08 1996-07-25 Kaercher Gmbh & Co Alfred Bodenkehrmaschine
DE69312565T2 (de) 1992-05-15 1998-01-02 Toshiba Kawasaki Kk Roboter zum Reinigen eines Reisezugwagens
US5345639A (en) 1992-05-28 1994-09-13 Tokyo Electron Limited Device and method for scrubbing and cleaning substrate
JPH064130A (ja) 1992-06-23 1994-01-14 Sanyo Electric Co Ltd 掃除ロボット
US5279672A (en) 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
US5276933A (en) 1992-07-02 1994-01-11 Tennant Company Damage resistant recirculation flap
JPH0683442A (ja) 1992-09-04 1994-03-25 Sanyo Electric Co Ltd 走行ロボット
JP3196355B2 (ja) 1992-10-20 2001-08-06 松下電器産業株式会社 自走式掃除機
US5548511A (en) 1992-10-29 1996-08-20 White Consolidated Industries, Inc. Method for controlling self-running cleaning apparatus
JPH06144215A (ja) 1992-10-30 1994-05-24 Meidensha Corp 無人搬送車
JPH06179145A (ja) 1992-12-10 1994-06-28 Toyoda Mach Works Ltd 搬送台車
US5349378A (en) 1992-12-21 1994-09-20 Robotic Vision Systems, Inc. Context independent fusion of range and intensity imagery
FR2700213B1 (fr) 1993-01-05 1995-03-24 Sfim Ensemble de guidage.
US5398632A (en) 1993-03-08 1995-03-21 Mmc Compliance Engineering, Inc. Apparatus and method for performing external surface work on ship hulls
DE9307500U1 (zh) 1993-05-18 1993-07-22 Bernstein Senso-Plus, 32457 Porta Westfalica, De
US5440216A (en) 1993-06-08 1995-08-08 Samsung Electronics Co., Ltd. Robot cleaner
KR0140499B1 (ko) 1993-08-07 1998-07-01 김광호 청소기와 그 제어방법
US5367458A (en) 1993-08-10 1994-11-22 Caterpillar Industrial Inc. Apparatus and method for identifying scanned reflective anonymous targets
JPH0759695A (ja) 1993-08-24 1995-03-07 Matsushita Electric Ind Co Ltd 自走式掃除機
KR0161031B1 (ko) 1993-09-09 1998-12-15 김광호 로보트의 위치오차보정장치
KR100197676B1 (ko) 1993-09-27 1999-06-15 윤종용 로보트 청소기
JP3319093B2 (ja) 1993-11-08 2002-08-26 松下電器産業株式会社 移動作業ロボット
DE4340367C2 (de) 1993-11-26 2003-12-11 Vorwerk Co Interholding Gerät zur Bodenpflege
DE4408982C1 (de) 1994-03-16 1995-05-18 Deutsche Forsch Luft Raumfahrt Autonomes Navigationssystem für einen mobilen Roboter oder Manipulator
SE502834C2 (sv) 1994-03-29 1996-01-29 Electrolux Ab Förfarande och anordning för avkänning av hinder vid självgående anordning
US5646494A (en) 1994-03-29 1997-07-08 Samsung Electronics Co., Ltd. Charge induction apparatus of robot cleaner and method thereof
KR970000328Y1 (ko) 1994-03-31 1997-01-16 삼성전자 주식회사 자동청소기의 전원공급장치
KR970000582B1 (ko) 1994-03-31 1997-01-14 삼성전자 주식회사 로보트청소기의 주행제어방법
JPH07281742A (ja) 1994-04-04 1995-10-27 Kubota Corp ビーム光誘導式作業車用の走行制御装置
SE514791C2 (sv) 1994-06-06 2001-04-23 Electrolux Ab Förbättrat förfarande för lokalisering av fyrar vid självgående anordning
KR0161042B1 (ko) 1994-06-07 1999-01-15 김광호 로보트의 주행제어장치 및 그 방법
BE1008470A3 (fr) 1994-07-04 1996-05-07 Colens Andre Dispositif et systeme automatique de depoussierage de sol et engin y adapte.
US5745946A (en) 1994-07-15 1998-05-05 Ontrak Systems, Inc. Substrate processing system
US5454129A (en) 1994-09-01 1995-10-03 Kell; Richard T. Self-powered pool vacuum with remote controlled capabilities
JP3204857B2 (ja) 1994-09-22 2001-09-04 日本輸送機株式会社 自動掃除機
DE4439427B4 (de) 1994-11-04 2004-04-08 Vorwerk & Co. Interholding Gmbh Staubsauger zur Pflege von Bodenbelägen
US5560077A (en) 1994-11-25 1996-10-01 Crotchett; Diane L. Vacuum dustpan apparatus
US5634237A (en) 1995-03-29 1997-06-03 Paranjpe; Ajit P. Self-guided, self-propelled, convertible cleaning apparatus
US5698957A (en) 1995-04-24 1997-12-16 Advance Machine Company Over current protective circuit with time delay for a floor cleaning machine
IL113913A (en) 1995-05-30 2000-02-29 Friendly Machines Ltd Navigation method and system
JPH08326025A (ja) 1995-05-31 1996-12-10 Tokico Ltd 清掃ロボット
JPH08335112A (ja) 1995-06-08 1996-12-17 Minolta Co Ltd 移動作業ロボットシステム
JPH0944240A (ja) 1995-08-01 1997-02-14 Kubota Corp 移動車の誘導装置
JPH0947413A (ja) 1995-08-08 1997-02-18 Minolta Co Ltd 清掃ロボット
JPH09150741A (ja) 1995-11-29 1997-06-10 Toyota Auto Body Co Ltd 重量物運搬用の電動台車
KR0168189B1 (ko) 1995-12-01 1999-02-01 김광호 로보트의 환경인식장치 및 그 제어방법
JPH09185410A (ja) 1996-01-08 1997-07-15 Hitachi Electric Syst:Kk 自律走行車の走行制御方法及び走行制御装置
US5852984A (en) 1996-01-31 1998-12-29 Ishikawajimi-Harima Heavy Industries Co., Ltd. Underwater vehicle and method of positioning same
US5890250A (en) 1996-02-02 1999-04-06 Sky Robitics, Inc. Robotic washing apparatus
NL1002487C2 (nl) 1996-02-29 1997-09-01 Maasland Nv Constructie met een stalinrichting voor dieren.
JPH09244730A (ja) 1996-03-11 1997-09-19 Komatsu Ltd ロボットシステムおよびロボットの制御装置
SE509317C2 (sv) 1996-04-25 1999-01-11 Electrolux Ab Munstycksarrangemang för en självgående dammsugare
SE506372C2 (sv) 1996-04-30 1997-12-08 Electrolux Ab Självgående anordning
US5935179A (en) 1996-04-30 1999-08-10 Aktiebolaget Electrolux System and device for a self orienting device
JP3493539B2 (ja) 1996-06-03 2004-02-03 ミノルタ株式会社 走行作業ロボット
US6142252A (en) 1996-07-11 2000-11-07 Minolta Co., Ltd. Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route
US5778554A (en) 1996-07-15 1998-07-14 Oliver Design, Inc. Wafer spin dryer and method of drying a wafer
US5926909A (en) 1996-08-28 1999-07-27 Mcgee; Daniel Remote control vacuum cleaner and charging system
JPH10105236A (ja) 1996-09-30 1998-04-24 Minolta Co Ltd 移動体の位置決め装置および移動体の位置決め方法
ES2143825T3 (es) 1996-10-17 2000-05-16 Daimler Chrysler Ag Procedimiento para la aplicacion de una lamina protectora autoadhesiva sobre carrocerias y dispositivo para la realizacion del mismo.
DE69737926T2 (de) 1996-10-21 2008-04-10 Ebara Corp. Reinigungsvorrichtung
US5987696A (en) 1996-12-24 1999-11-23 Wang; Kevin W. Carpet cleaning machine
US5858111A (en) 1997-01-21 1999-01-12 Marrero; Lou Aircraft maintenance apparatus and method of maintaining same
US6504610B1 (en) 1997-01-22 2003-01-07 Siemens Aktiengesellschaft Method and system for positioning an autonomous mobile unit for docking
US6076226A (en) 1997-01-27 2000-06-20 Robert J. Schaap Controlled self operated vacuum cleaning system
US5942869A (en) 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
US5995884A (en) 1997-03-07 1999-11-30 Allen; Timothy P. Computer peripheral floor cleaning system and navigation method
EP0870461A1 (de) 1997-04-11 1998-10-14 Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. Antriebsvorrichtung zum Bewegen eines Roboters oder Fahrzeugs auf flachen, geneigten oder gewölbten Flächen, insbesondere einer Glaskonstruktion
US5947051A (en) 1997-06-04 1999-09-07 Geiger; Michael B. Underwater self-propelled surface adhering robotically operated vehicle
EP0996968A1 (de) 1997-07-17 2000-05-03 Horst Kunze-Concewitz Verfahren und vorrichtung zum behandeln von flächigen substraten, insbesondere silizium-scheiben (wafer) zur herstellung mikroelektronischer bauelemente
US6226830B1 (en) 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
US6358325B1 (en) 1997-08-22 2002-03-19 Micron Technology, Inc. Polysilicon-silicon dioxide cleaning process performed in an integrated cleaner with scrubber
SE510524C2 (sv) 1997-09-19 1999-05-31 Electrolux Ab Elektroniskt avgränsningssystem
US5933902A (en) 1997-11-18 1999-08-10 Frey; Bernhard M. Wafer cleaning system
US6532404B2 (en) 1997-11-27 2003-03-11 Colens Andre Mobile robots and their control system
CA2311561C (fr) 1997-11-27 2013-03-12 Solar & Robotics Ameliorations a des robots mobiles et a leur systeme de commande
US6064926A (en) 1997-12-08 2000-05-16 Caterpillar Inc. Method and apparatus for determining an alternate path in response to detection of an obstacle
SE511254C2 (sv) 1998-01-08 1999-09-06 Electrolux Ab Elektroniskt söksystem för arbetsredskap
SE523080C2 (sv) 1998-01-08 2004-03-23 Electrolux Ab Dockningssystem för självgående arbetsredskap
US5999865A (en) 1998-01-29 1999-12-07 Inco Limited Autonomous vehicle guidance system
JPH11267074A (ja) 1998-03-25 1999-10-05 Sharp Corp 掃除ロボット
US6263989B1 (en) 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
US6176067B1 (en) 1998-03-27 2001-01-23 Rippey Corporation Method for packaging sponge or porous polymeric products
EP0999013B1 (en) 1998-04-28 2007-09-26 Ebara Corporation Polishing grinding wheel and substrate polishing method with this grinding wheel
IL124413A (en) 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
US6941199B1 (en) 1998-07-20 2005-09-06 The Procter & Gamble Company Robotic system
ES2207955T3 (es) 1998-07-20 2004-06-01 THE PROCTER & GAMBLE COMPANY Sistema robotico.
EP1098587A1 (de) 1998-07-31 2001-05-16 Volker Sommer Haushaltsroboter zum automatischen staubsaugen von bodenflächen
US6230360B1 (en) 1998-09-02 2001-05-15 Scott Singleton Baked good pan cleaner
DE19849978C2 (de) 1998-10-29 2001-02-08 Erwin Prasler Selbstfahrendes Reinigungsgerät
GB9927129D0 (en) 1998-11-18 2000-01-12 White Consolidated Ind Inc Battery power combination vacuum cleaner
US6726823B1 (en) 1998-11-28 2004-04-27 Acm Research, Inc. Methods and apparatus for holding and positioning semiconductor workpieces during electropolishing and/or electroplating of the workpieces
KR100610235B1 (ko) 1998-11-30 2006-08-09 소니 가부시끼 가이샤 로봇 장치 및 그 제어 방법
GB2344751B (en) 1998-12-18 2002-01-09 Notetry Ltd Vacuum cleaner
GB2344746A (en) 1998-12-18 2000-06-21 Notetry Ltd Vacuum cleaner wherein an alternative air inlet is selected by moving the separating apparatus
GB2344888A (en) 1998-12-18 2000-06-21 Notetry Ltd Obstacle detection system
GB9827779D0 (en) 1998-12-18 1999-02-10 Notetry Ltd Improvements in or relating to appliances
GB2344900A (en) 1998-12-18 2000-06-21 Notetry Ltd Robotic floor cleaning device with obstacle detection
GB2344750B (en) 1998-12-18 2002-06-26 Notetry Ltd Vacuum cleaner
GB2344752A (en) 1998-12-18 2000-06-21 Notetry Ltd Handle for a portable appliance e.g. a vacuum cleaner
US6339735B1 (en) 1998-12-29 2002-01-15 Friendly Robotics Ltd. Method for operating a robot
ES2335189T3 (es) 1999-02-12 2010-03-23 Franz Plasser Bahnbaumaschinen-Industriegesellschaft M.B.H. Procedimiento de medicion de una via ferrea.
US6124694A (en) 1999-03-18 2000-09-26 Bancroft; Allen J. Wide area navigation for a robot scrubber
US6076662A (en) 1999-03-24 2000-06-20 Rippey Corporation Packaged sponge or porous polymeric products
JP4030247B2 (ja) 1999-05-17 2008-01-09 株式会社荏原製作所 ドレッシング装置及びポリッシング装置
GB2350696A (en) 1999-05-28 2000-12-06 Notetry Ltd Visual status indicator for a robotic machine, eg a vacuum cleaner
KR100342029B1 (ko) 1999-06-07 2002-06-27 탁승호 표면 주행체 및 그를 이용한 청소기
JP3803291B2 (ja) 1999-06-08 2006-08-02 ジョンソンディバーシー・インコーポレーテッド 床清掃装置
JP4165965B2 (ja) 1999-07-09 2008-10-15 フィグラ株式会社 自律走行作業車
GB9917232D0 (en) 1999-07-23 1999-09-22 Notetry Ltd Method of operating a floor cleaning device
GB2355523B (en) 1999-10-21 2004-03-10 Notetry Ltd Detection system
WO2001037060A1 (en) 1999-11-18 2001-05-25 The Procter & Gamble Company Home cleaning robot
US6370452B1 (en) 1999-12-08 2002-04-09 Samuel T. Pfister Autonomous vehicle transit system
US6882334B1 (en) 1999-12-14 2005-04-19 Gateway, Inc. Apparatus and method for detection of communication signal loss
JP2001187009A (ja) 1999-12-28 2001-07-10 Matsushita Electric Ind Co Ltd 電気掃除機用吸込具及び電気掃除機
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6594844B2 (en) 2000-01-24 2003-07-22 Irobot Corporation Robot obstacle detection system
US7155308B2 (en) 2000-01-24 2006-12-26 Irobot Corporation Robot obstacle detection system
US7039453B2 (en) 2000-02-08 2006-05-02 Tarun Mullick Miniature ingestible capsule
US6443509B1 (en) 2000-03-21 2002-09-03 Friendly Robotics Ltd. Tactile sensor
US6482678B1 (en) 2000-03-31 2002-11-19 Lam Research Corporation Wafer preparation systems and methods for preparing wafers
US6457199B1 (en) 2000-10-12 2002-10-01 Lam Research Corporation Substrate processing in an immersion, scrub and dry system
AU2001253151A1 (en) 2000-04-04 2001-10-15 Irobot Corporation Wheeled platforms
US6870792B2 (en) 2000-04-04 2005-03-22 Irobot Corporation Sonar Scanner
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6769004B2 (en) 2000-04-27 2004-07-27 Irobot Corporation Method and system for incremental stack scanning
US6845297B2 (en) 2000-05-01 2005-01-18 Irobot Corporation Method and system for remote control of mobile robot
EP2363775A1 (en) 2000-05-01 2011-09-07 iRobot Corporation Method and system for remote control of mobile robot
US6633150B1 (en) 2000-05-02 2003-10-14 Personal Robotics, Inc. Apparatus and method for improving traction for a mobile robot
AU2001281276A1 (en) 2000-05-02 2001-11-12 Personal Robotics, Inc. Autonomous floor mopping apparatus
US6381801B1 (en) 2000-05-10 2002-05-07 Clean Up America, Inc. Self-propelled brushless surface cleaner with reclamation
US6481515B1 (en) 2000-05-30 2002-11-19 The Procter & Gamble Company Autonomous mobile surface treating apparatus
US6457206B1 (en) 2000-10-20 2002-10-01 Scott H. Judson Remote-controlled vacuum cleaner
TW495416B (en) 2000-10-24 2002-07-21 Ebara Corp Polishing apparatus
NO313533B1 (no) 2000-10-30 2002-10-21 Torbjoern Aasen Mobil robot
US6615885B1 (en) 2000-10-31 2003-09-09 Irobot Corporation Resilient wheel structure
US6496754B2 (en) 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
GB2382251B (en) 2000-11-17 2004-01-07 Samsung Kwangju Electronics Co Mobile robot
KR100642072B1 (ko) 2000-11-22 2006-11-10 삼성광주전자 주식회사 알에프모듈을 이용한 모빌로봇 시스템
US6571415B2 (en) 2000-12-01 2003-06-03 The Hoover Company Random motion cleaner
SE0004466D0 (sv) 2000-12-04 2000-12-04 Abb Ab Mobile Robot
US6661239B1 (en) 2001-01-02 2003-12-09 Irobot Corporation Capacitive sensor systems and methods with increased resolution and automatic calibration
US6658325B2 (en) 2001-01-16 2003-12-02 Stephen Eliot Zweig Mobile robotic with web server and digital radio links
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US7024278B2 (en) 2002-09-13 2006-04-04 Irobot Corporation Navigational control system for a robotic device
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US6883201B2 (en) 2002-01-03 2005-04-26 Irobot Corporation Autonomous floor-cleaning robot
JP4426181B2 (ja) 2001-01-25 2010-03-03 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ サイクロイド移動を介して表面を真空洗浄するためのロボット
JP2004192017A (ja) 2001-02-06 2004-07-08 Dainippon Printing Co Ltd Ｉｃカードを装着した移動体通信端末を利用した情報家電端末の遠隔制御システムとそれに使用する移動体通信端末とｉｃカード
USD471243S1 (en) 2001-02-09 2003-03-04 Irobot Corporation Robot
US6810305B2 (en) 2001-02-16 2004-10-26 The Procter & Gamble Company Obstruction management system for robots
SE518483C2 (sv) 2001-02-28 2002-10-15 Electrolux Ab Hjulupphängning för en självgående städapparat
SE518482C2 (sv) 2001-02-28 2002-10-15 Electrolux Ab Hinderavkänningssystem för en självgående städapparat
SE518683C2 (sv) 2001-03-15 2002-11-05 Electrolux Ab Förfarande och anordning för positionsbestämning av en autonom apparat
SE0100924D0 (sv) 2001-03-15 2001-03-15 Electrolux Ab Energy-efficient navigation of an autonomous surface treatment apparatus
CN1271967C (zh) 2001-03-16 2006-08-30 幻影自动化机械公司 自控移动箱式真空吸尘器
US6611318B2 (en) 2001-03-23 2003-08-26 Automatic Timing & Controls, Inc. Adjustable mirror for collimated beam laser sensor
JP2002287824A (ja) 2001-03-26 2002-10-04 Toshiba Tec Corp 自律走行ロボット
KR100437372B1 (ko) 2001-04-18 2004-06-25 삼성광주전자 주식회사 이동통신망을 이용한 로봇 청소 시스템
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
RU2220643C2 (ru) 2001-04-18 2004-01-10 Самсунг Гванджу Электроникс Ко., Лтд. Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты)
US6438456B1 (en) 2001-04-24 2002-08-20 Sandia Corporation Portable control device for networked mobile robots
CN1276465C (zh) 2001-05-18 2006-09-20 兰姆研究有限公司 降低制造过程中表面张力的衬底制备设备
JP2002355204A (ja) 2001-05-31 2002-12-10 Matsushita Electric Ind Co Ltd 自走式電気掃除機
JP3346417B1 (ja) 2001-06-05 2002-11-18 松下電器産業株式会社 移動装置
US6901624B2 (en) 2001-06-05 2005-06-07 Matsushita Electric Industrial Co., Ltd. Self-moving cleaner
US20020185071A1 (en) 2001-06-08 2002-12-12 Fangjiang Guo Apparatus for cleaning a teat of a dairy animal
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US7429843B2 (en) 2001-06-12 2008-09-30 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
ES2660836T3 (es) 2001-06-12 2018-03-26 Irobot Corporation Método y sistema de cobertura multicódigo para un robot autónomo
KR100420171B1 (ko) 2001-08-07 2004-03-02 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어방법
US6580246B2 (en) 2001-08-13 2003-06-17 Steven Jacobs Robot touch shield
US6667592B2 (en) 2001-08-13 2003-12-23 Intellibot, L.L.C. Mapped robot system
SE519967C2 (sv) 2001-09-11 2003-05-06 Electrolux Ab Dammbehållare för en dammsugare
ATE309736T1 (de) 2001-09-14 2005-12-15 Vorwerk Co Interholding Selbsttätig verfahrbares bodenstaub- aufsammelgerät, sowie kombination eines derartigen aufsammelgerätes und einer basisstaton
EP1441632B1 (en) 2001-09-26 2013-05-01 F. Robotics Acquisitions Ltd. Robotic vacuum cleaner
IL145680A0 (en) 2001-09-26 2002-06-30 Friendly Robotics Ltd Robotic vacuum cleaner
JP2003116758A (ja) 2001-10-16 2003-04-22 Mitsubishi Electric Corp 自走式掃除機
GB0126497D0 (en) 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
GB0126499D0 (en) 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
US6775871B1 (en) 2001-11-28 2004-08-17 Edward Finch Automatic floor cleaner
JP2003172578A (ja) 2001-12-07 2003-06-20 Hitachi Ltd ネットワーク対応家電機器、家電機器点検システム及び家電機器点検サービス
US6860206B1 (en) 2001-12-14 2005-03-01 Irobot Corporation Remote digital firing system
US7559269B2 (en) 2001-12-14 2009-07-14 Irobot Corporation Remote digital firing system
US8375838B2 (en) 2001-12-14 2013-02-19 Irobot Corporation Remote digital firing system
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
DE60301148T2 (de) 2002-01-24 2006-06-01 Irobot Corp., Burlington Verfahren und System zur Roboterlokalisierung und Beschränkung des Arbeitsbereichs
AU2003207685B2 (en) 2002-01-25 2008-09-25 James R. Alton Vacuum cleaner nozzle assembly having edge-cleaning ducts
US8073439B2 (en) 2002-02-18 2011-12-06 Infineon Technologies Ag Control system and method for operating a transceiver
US6859976B2 (en) 2002-02-22 2005-03-01 S.C. Johnson & Son, Inc. Cleaning apparatus with continuous action wiping and sweeping
SE0202988D0 (sv) 2002-03-15 2002-10-10 Delaval Holding Ab A method and an arrangement at a dairy farm
JP2003280740A (ja) 2002-03-25 2003-10-02 Matsushita Electric Ind Co Ltd 移動装置
US7844364B2 (en) 2002-04-16 2010-11-30 Irobot Corporation Systems and methods for dispersing and clustering a plurality of robotic devices
KR20030082040A (ko) 2002-04-16 2003-10-22 삼성광주전자 주식회사 로봇 청소기
US7117067B2 (en) 2002-04-16 2006-10-03 Irobot Corporation System and methods for adaptive control of robotic devices
US20030205028A1 (en) 2002-04-22 2003-11-06 Sus Gerald A. Automated food processing system and method
US6869633B2 (en) 2002-04-22 2005-03-22 Restaurant Technology, Inc. Automated food frying device and method
NZ536098A (en) 2002-04-22 2006-10-27 Restaurant Technology Automated food processing by scooping container into "french fries" using an automated arm
US7113847B2 (en) 2002-05-07 2006-09-26 Royal Appliance Mfg. Co. Robotic vacuum with removable portable vacuum and semi-automated environment mapping
JP3902551B2 (ja) 2002-05-17 2007-04-11 日本ビクター株式会社 移動ロボット
SE0201739D0 (sv) 2002-06-07 2002-06-07 Electrolux Ab Elektroniskt avgränsningssystem
SE0201740D0 (sv) 2002-06-07 2002-06-07 Electrolux Ab Electroniskt diregeringssystem
WO2003106047A2 (en) 2002-06-14 2003-12-24 Kansai Paint Co., Ltd. Coating pressure feed roller, roller coating device, curved-surface operable roller coating device, automated coating apparatus using those devices, and coating method
US6967275B2 (en) 2002-06-25 2005-11-22 Irobot Corporation Song-matching system and method
KR100483548B1 (ko) 2002-07-26 2005-04-15 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어 방법
DE10231386B4 (de) 2002-07-08 2004-05-06 Alfred Kärcher Gmbh & Co. Kg Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
DE10231391A1 (de) 2002-07-08 2004-02-12 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungssystem
US7150068B1 (en) 2002-08-12 2006-12-19 Gary Dean Ragner Light-weight self-propelled vacuum cleaner
US20040031111A1 (en) 2002-08-14 2004-02-19 Jose Porchia Disposable dust receptacle
US20040031121A1 (en) 2002-08-14 2004-02-19 Martin Frederick H. Disposable dust collectors for use with cleaning machines
KR20040018603A (ko) 2002-08-23 2004-03-04 삼성전자주식회사 청소장치
JP2004096253A (ja) 2002-08-29 2004-03-25 Sharp Corp 画像形成方法及び画像形成装置
US7054716B2 (en) 2002-09-06 2006-05-30 Royal Appliance Mfg. Co. Sentry robot system
US8386081B2 (en) 2002-09-13 2013-02-26 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
KR101812021B1 (ko) 2011-09-30 2017-12-27 삼성전자주식회사 로봇청소기
KR100492577B1 (ko) 2002-10-22 2005-06-03 엘지전자 주식회사 로봇 청소기의 흡입헤드
KR100459465B1 (ko) 2002-10-22 2004-12-03 엘지전자 주식회사 로봇 청소기의 먼지흡입구조
US6946013B2 (en) 2002-10-28 2005-09-20 Geo2 Technologies, Inc. Ceramic exhaust filter
KR100468107B1 (ko) 2002-10-31 2005-01-26 삼성광주전자 주식회사 외부충전장치를 갖는 로봇청소기 시스템 및 로봇청소기의외부충전장치 접속방법
KR100500842B1 (ko) 2002-10-31 2005-07-12 삼성광주전자 주식회사 로봇청소기와, 그 시스템 및 제어방법
KR100542340B1 (ko) 2002-11-18 2006-01-11 삼성전자주식회사 홈네트워크 시스템 및 그 제어방법
JP2004166968A (ja) 2002-11-20 2004-06-17 Zojirushi Corp 自走式掃除ロボット
US7346428B1 (en) 2002-11-22 2008-03-18 Bissell Homecare, Inc. Robotic sweeper cleaner with dusting pad
KR100492582B1 (ko) 2002-12-13 2005-06-03 엘지전자 주식회사 청소기용 브러시 구조
US7135992B2 (en) 2002-12-17 2006-11-14 Evolution Robotics, Inc. Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system
KR100480036B1 (ko) 2002-12-17 2005-03-31 엘지전자 주식회사 자동 주행 청소기의 자동 충전 장치 및 방법
JP2004198212A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
KR100486505B1 (ko) 2002-12-31 2005-04-29 엘지전자 주식회사 로봇 청소기의 자이로 오프셋 보정방법
US7043794B2 (en) 2003-01-09 2006-05-16 Royal Appliance Mfg. Co. Self-propelled vacuum cleaner with a neutral return spring
US7222390B2 (en) 2003-01-09 2007-05-29 Royal Appliance Mfg. Co. Clutchless self-propelled vacuum cleaner and nozzle height adjustment mechanism therefor
KR100492588B1 (ko) 2003-01-23 2005-06-03 엘지전자 주식회사 자동 주행 청소기의 위치정보 인식장치
NZ523946A (en) 2003-01-31 2004-06-25 Carl Ernest Alexander Portable hygiene compositions comprising a semi-solid gel and active ingredients in bead form for use in personal oral, dental or skin care
EP1592172B1 (en) 2003-02-06 2016-04-13 Panasonic Corporation Information transmission system, information transmission method, electric device communication device, information communication device, communication control program
JP2004237075A (ja) 2003-02-06 2004-08-26 Samsung Kwangju Electronics Co Ltd 外部充電装置を有するロボット掃除機システム及びロボット掃除機の外部充電装置の接続方法。
KR100485696B1 (ko) 2003-02-07 2005-04-28 삼성광주전자 주식회사 로봇청소기의 위치인식표지 검출방법 및 이 검출방법을적용한 로봇청소기
GB2398394B (en) 2003-02-14 2006-05-17 Dyson Ltd An autonomous machine
JP2004267236A (ja) 2003-03-05 2004-09-30 Hitachi Ltd 自走式掃除機およびそれに用いる充電装置
US7805220B2 (en) * 2003-03-14 2010-09-28 Sharper Image Acquisition Llc Robot vacuum with internal mapping system
US20040244138A1 (en) 2003-03-14 2004-12-09 Taylor Charles E. Robot vacuum
US20050010331A1 (en) 2003-03-14 2005-01-13 Taylor Charles E. Robot vacuum with floor type modes
KR100492590B1 (ko) 2003-03-14 2005-06-03 엘지전자 주식회사 로봇의 자동충전 시스템 및 복귀방법
US7801645B2 (en) 2003-03-14 2010-09-21 Sharper Image Acquisition Llc Robotic vacuum cleaner with edge and object detection system
JP2004275468A (ja) 2003-03-17 2004-10-07 Hitachi Home & Life Solutions Inc 自走式掃除機およびその運転方法
US7038166B2 (en) 2003-03-18 2006-05-02 Loma Linda University Medical Center Containment plenum for laser irradiation and removal of material from a surface of a structure
US7060932B2 (en) 2003-03-18 2006-06-13 Loma Linda University Medical Center Method and apparatus for material processing
US7835529B2 (en) 2003-03-19 2010-11-16 Irobot Corporation Sound canceling systems and methods
DE10313360A1 (de) 2003-03-25 2004-10-21 BSH Bosch und Siemens Hausgeräte GmbH Verfahren und Vorrichtung zum Erfassen der Registrierung des Anschlusses eines Hausgerätes an einer Busleitungsanordnung
US7331436B1 (en) 2003-03-26 2008-02-19 Irobot Corporation Communications spooler for a mobile robot
JP2004303134A (ja) 2003-04-01 2004-10-28 Matsushita Electric Ind Co Ltd 走行装置
KR20040086940A (ko) 2003-04-03 2004-10-13 엘지전자 주식회사 이미지센서를 채용한 이동로봇 및 그의 이동거리 측정방법
KR100538949B1 (ko) 2003-04-04 2005-12-27 삼성광주전자 주식회사 로봇청소기의 구동장치
KR100486737B1 (ko) 2003-04-08 2005-05-03 삼성전자주식회사 청소로봇의 청소궤적 생성·추종방법 및 장치
US20040220707A1 (en) 2003-05-02 2004-11-04 Kim Pallister Method, apparatus and system for remote navigation of robotic devices
KR100963387B1 (ko) 2003-05-07 2010-06-14 엘지전자 주식회사 로봇 진공청소기의 휠어셈블리
US7208892B2 (en) 2003-05-23 2007-04-24 The Hoover Company Power management system for a floor care appliance
KR100507926B1 (ko) 2003-06-30 2005-08-17 삼성광주전자 주식회사 로봇청소기의 구동장치
AU2004202836B2 (en) 2003-07-24 2006-03-09 Samsung Gwangju Electronics Co., Ltd. Dust Receptacle of Robot Cleaner
AU2004202834B2 (en) 2003-07-24 2006-02-23 Samsung Gwangju Electronics Co., Ltd. Robot Cleaner
KR100507928B1 (ko) 2003-07-24 2005-08-17 삼성광주전자 주식회사 로봇청소기
KR100478681B1 (ko) 2003-07-29 2005-03-25 삼성광주전자 주식회사 바닥살균기능을 구비한 로봇청소기
KR100528297B1 (ko) 2003-07-31 2005-11-15 삼성전자주식회사 로봇 청소기의 제어시스템
US7174238B1 (en) 2003-09-02 2007-02-06 Stephen Eliot Zweig Mobile robotic system with web server and digital radio links
US7916898B2 (en) 2003-09-15 2011-03-29 Deere & Company Method and system for identifying an edge of a crop
US7424766B2 (en) 2003-09-19 2008-09-16 Royal Appliance Mfg. Co. Sensors and associated methods for controlling a vacuum cleaner
US7237298B2 (en) 2003-09-19 2007-07-03 Royal Appliance Mfg. Co. Sensors and associated methods for controlling a vacuum cleaner
US6964312B2 (en) 2003-10-07 2005-11-15 International Climbing Machines, Inc. Surface traversing apparatus and method
WO2005036292A1 (ja) 2003-10-08 2005-04-21 Figla Co.,Ltd. 自走式作業ロボット
TWM247170U (en) 2003-10-09 2004-10-21 Cheng-Shiang Yan Self-moving vacuum floor cleaning device
EP1524494A1 (en) 2003-10-17 2005-04-20 inos Automationssoftware GmbH Method for calibrating a camera-laser-unit in respect to a calibration-object
JP4181477B2 (ja) 2003-10-22 2008-11-12 シャープ株式会社 自走式掃除機
FR2861856B1 (fr) 2003-11-03 2006-04-07 Wany Sa Procede et dispositif pour balayer une surface de maniere automatique
JP2005141636A (ja) 2003-11-10 2005-06-02 Matsushita Electric Ind Co Ltd 自律走行装置
US7269877B2 (en) 2003-12-04 2007-09-18 The Hoover Company Floor care appliance with network connectivity
KR20050063546A (ko) 2003-12-22 2005-06-28 엘지전자 주식회사 로봇 청소기 및 그 운전방법
KR20050063547A (ko) 2003-12-22 2005-06-28 엘지전자 주식회사 로봇 청소기 및 그 운전방법
KR20050072300A (ko) 2004-01-06 2005-07-11 삼성전자주식회사 청소로봇 및 그 제어방법
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
JP2005211364A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
US20110039690A1 (en) 2004-02-02 2011-02-17 Nanosys, Inc. Porous substrates, articles, systems and compositions comprising nanofibers and methods of their use and production
WO2005074362A2 (en) 2004-02-03 2005-08-18 F. Robotics Aquisitions Ltd. Robot docking station
WO2005077244A1 (en) 2004-02-04 2005-08-25 S. C. Johnson & Son, Inc. Surface treating device with cartridge-based cleaning system
KR100571834B1 (ko) 2004-02-27 2006-04-17 삼성전자주식회사 청소 로봇의 바닥 먼지 검출 방법 및 장치
US20060020369A1 (en) 2004-03-11 2006-01-26 Taylor Charles E Robot vacuum cleaner
CA2559629A1 (en) 2004-03-16 2005-09-29 Glaxo Group Limited Pyrazolo[3,4-b]pyridine compound, and its use as a pde4 inhibitor
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
WO2005092168A1 (ja) 2004-03-29 2005-10-06 Sanyo Electric Co., Ltd. 集塵装置
US7617557B2 (en) 2004-04-02 2009-11-17 Royal Appliance Mfg. Co. Powered cleaning appliance
US7603744B2 (en) 2004-04-02 2009-10-20 Royal Appliance Mfg. Co. Robotic appliance with on-board joystick sensor and associated methods of operation
US7185397B2 (en) 2004-04-09 2007-03-06 Alto U.S. Inc. Floor cleaning machine
JP2005296511A (ja) 2004-04-15 2005-10-27 Funai Electric Co Ltd 自走式掃除機
JP2005296512A (ja) 2004-04-15 2005-10-27 Funai Electric Co Ltd 自走式掃除機
TWI262777B (en) 2004-04-21 2006-10-01 Jason Yan Robotic vacuum cleaner
USD510066S1 (en) 2004-05-05 2005-09-27 Irobot Corporation Base station for robot
US6856113B1 (en) 2004-05-12 2005-02-15 Cube Investments Limited Central vacuum cleaning system motor control circuit mounting post, mounting configuration, and mounting methods
KR100544480B1 (ko) 2004-05-12 2006-01-24 삼성광주전자 주식회사 로봇 청소기
EP1761677B1 (en) 2004-05-13 2013-09-18 Or21, Llc Operating room/intervention room
KR100548895B1 (ko) 2004-05-17 2006-02-02 삼성광주전자 주식회사 로봇 진공청소기의 충전장치
JP4255452B2 (ja) 2004-05-28 2009-04-15 フクバデンタル株式会社 イオン歯ブラシ
US7042342B2 (en) 2004-06-09 2006-05-09 Lear Corporation Remote keyless entry transmitter fob with RF analyzer
ATE536577T1 (de) 2004-06-24 2011-12-15 Irobot Corp Fernbediente ablaufsteuerung und verfahren für eine autonome robotervorrichtung
KR100613102B1 (ko) 2004-07-01 2006-08-17 삼성광주전자 주식회사 흡입구조립체와 이를 구비한 진공청소기
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
KR20060015082A (ko) 2004-08-13 2006-02-16 엘지전자 주식회사 로봇 청소기의 브러시 동력전달장치
CA2578525A1 (en) 2004-08-27 2006-03-09 Sharper Image Corporation Robot cleaner with improved vacuum unit
KR100595571B1 (ko) 2004-09-13 2006-07-03 엘지전자 주식회사 로봇 청소기
US7271983B2 (en) 2004-09-16 2007-09-18 Quantum Corporation Magnetic head with mini-outriggers and method of manufacture
JP2006087507A (ja) 2004-09-21 2006-04-06 Sanyo Electric Co Ltd 自走式掃除機
KR100664053B1 (ko) 2004-09-23 2007-01-03 엘지전자 주식회사 로봇청소기의 청소툴 자동 교환 시스템 및 방법
KR100600487B1 (ko) 2004-10-12 2006-07-13 삼성광주전자 주식회사 로봇 청소기의 좌표보정방법 및 이를 이용한 로봇 청소기시스템
US7499774B2 (en) 2004-10-22 2009-03-03 Irobot Corporation System and method for processing safety signals in an autonomous vehicle
US7499775B2 (en) 2004-10-22 2009-03-03 Irobot Corporation System and method for terrain feature tracking
US8007221B1 (en) 2004-10-22 2011-08-30 Irobot Corporation Lifting apparatus for remote controlled robotic device
US7499776B2 (en) 2004-10-22 2009-03-03 Irobot Corporation Systems and methods for control of an unmanned ground vehicle
US8078338B2 (en) 2004-10-22 2011-12-13 Irobot Corporation System and method for behavior based control of an autonomous vehicle
US7499804B2 (en) 2004-10-22 2009-03-03 Irobot Corporation System and method for multi-modal control of an autonomous vehicle
USD526753S1 (en) 2004-10-26 2006-08-15 Funai Electric Company Limited Electric vacuum cleaner
KR100656701B1 (ko) 2004-10-27 2006-12-13 삼성광주전자 주식회사 로봇청소기 시스템 및 외부충전장치 복귀 방법
KR100645379B1 (ko) 2004-10-29 2006-11-15 삼성광주전자 주식회사 로봇 제어 시스템 및 로봇 제어방법
KR100575708B1 (ko) 2004-11-11 2006-05-03 엘지전자 주식회사 로봇청소기의 거리감지장치 및 방법
EP1810257B1 (en) 2004-11-12 2011-09-28 Tennant Company Mobile floor cleaner data communication
JP4464912B2 (ja) 2004-12-03 2010-05-19 パナソニック株式会社 ロボット制御装置及び自律移動ロボット
US7697141B2 (en) 2004-12-09 2010-04-13 Halliburton Energy Services, Inc. In situ optical computation fluid analysis system and method
KR100654447B1 (ko) 2004-12-15 2006-12-06 삼성전자주식회사 지역별로 존재하는 컨텐츠를 글로벌로 공유하고 거래하는방법 및 시스템
US8347088B2 (en) 2005-02-01 2013-01-01 Newsilike Media Group, Inc Security systems and methods for use with structured and unstructured data
US8200700B2 (en) 2005-02-01 2012-06-12 Newsilike Media Group, Inc Systems and methods for use of structured and unstructured distributed data
KR100636270B1 (ko) 2005-02-04 2006-10-19 삼성전자주식회사 홈 네트워크 시스템 및 그 제어방법
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
KR101240732B1 (ko) 2005-02-18 2013-03-07 아이로보트 코퍼레이션 습식 및 건식 청소를 위한 자동 표면 청소 로봇
US7389156B2 (en) 2005-02-18 2008-06-17 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US20060184293A1 (en) 2005-02-18 2006-08-17 Stephanos Konandreas Autonomous surface cleaning robot for wet cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
JP2006231477A (ja) 2005-02-25 2006-09-07 Mitsubishi Heavy Ind Ltd 移動体における距離検出手段の校正方法
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US7757340B2 (en) 2005-03-25 2010-07-20 S.C. Johnson & Son, Inc. Soft-surface remediation device and method of using same
KR100657530B1 (ko) 2005-03-31 2006-12-14 엘지전자 주식회사 자동주행 로봇의 들림감지장치
KR20060108848A (ko) 2005-04-14 2006-10-18 엘지전자 주식회사 무선 제어가 가능한 청소로봇과 그를 이용한 원격 제어시스템
US20060235585A1 (en) 2005-04-18 2006-10-19 Funai Electric Co., Ltd. Self-guided cleaning robot
JP2006296684A (ja) 2005-04-19 2006-11-02 Funai Electric Co Ltd 自走式電気掃除機および電気掃除機
KR100704483B1 (ko) 2005-04-25 2007-04-09 엘지전자 주식회사 로봇청소기의 구석 청소 장치
KR20060112312A (ko) 2005-04-25 2006-11-01 엘지전자 주식회사 로봇청소기의 절전제어장치 및 방법
JP2006314669A (ja) 2005-05-16 2006-11-24 Funai Electric Co Ltd 自走式掃除機
KR100677279B1 (ko) 2005-05-17 2007-02-02 엘지전자 주식회사 로봇 청소기의 범퍼 장치
KR100690669B1 (ko) 2005-05-17 2007-03-09 엘지전자 주식회사 자율 주행 로봇의 위치인식 시스템
KR100594165B1 (ko) 2005-05-24 2006-06-28 삼성전자주식회사 네트워크 기반 로봇 제어 시스템 및 네트워크 기반 로봇제어 시스템에서 로봇 속도 제어 방법
ITMO20050151A1 (it) 2005-06-14 2006-12-15 Pineschi Massimiliano Dispositivo per aspirapolvere.
US20060293788A1 (en) 2005-06-26 2006-12-28 Pavel Pogodin Robotic floor care appliance with improved remote management
US7389166B2 (en) 2005-06-28 2008-06-17 S.C. Johnson & Son, Inc. Methods to prevent wheel slip in an autonomous floor cleaner
US7578020B2 (en) 2005-06-28 2009-08-25 S.C. Johnson & Son, Inc. Surface treating device with top load cartridge-based cleaning system
US7877166B2 (en) 2005-06-28 2011-01-25 S.C. Johnson & Son, Inc. RFID navigational system for robotic floor treater
JP4758155B2 (ja) 2005-07-05 2011-08-24 株式会社コーワ 掃除機用床ノズル及び電気掃除機
JP5048663B2 (ja) 2005-07-08 2012-10-17 アクティエボラゲット エレクトロラックス ロボット清掃装置
CN101253299B (zh) 2005-07-20 2013-03-06 欧普帝姆斯特许股份公司 医院手术室的新设计
KR100738890B1 (ko) 2005-07-22 2007-07-12 엘지전자 주식회사 이동로봇을 이용한 홈 네트워킹 시스템
JP4140015B2 (ja) 2005-07-25 2008-08-27 株式会社ダイフク 移動体の走行装置
KR100700544B1 (ko) 2005-08-09 2007-03-28 엘지전자 주식회사 알에프 안테나를 구비한 로봇청소기
KR101223478B1 (ko) 2005-08-10 2013-01-17 엘지전자 주식회사 로봇청소기의 먼지통 착탈 감지 장치
US7555363B2 (en) 2005-09-02 2009-06-30 Neato Robotics, Inc. Multi-function robotic device
JP4691421B2 (ja) 2005-09-05 2011-06-01 三菱レイヨン株式会社 ニッケルめっき金型の製造方法および製造装置
US8317956B2 (en) 2005-09-14 2012-11-27 Greer Robert W System, method, and composition for adhering preformed thermoplastic traffic control signage to pavement
US8583282B2 (en) 2005-09-30 2013-11-12 Irobot Corporation Companion robot for personal interaction
CA2562810C (en) 2005-10-07 2015-12-08 Cube Investments Limited Central vacuum cleaner multiple vacuum source control
DE112006002894B4 (de) 2005-10-21 2021-11-11 Deere & Company Vernetztes Vielzweck-Roboterfahrzeug
KR100738888B1 (ko) 2005-10-27 2007-07-12 엘지전자 주식회사 로봇 청소기에 장착된 카메라의 제어 장치 및 방법
WO2007051972A1 (en) 2005-10-31 2007-05-10 Qinetiq Limited Navigation system
US7693654B1 (en) 2005-11-23 2010-04-06 ActivMedia Robotics/MobileRobots Method for mapping spaces with respect to a universal uniform spatial reference
KR100834761B1 (ko) 2005-11-23 2008-06-05 삼성전자주식회사 이동 로봇의 자기 위치 인식 방법 및 장치
JP4677888B2 (ja) 2005-11-24 2011-04-27 パナソニック電工株式会社 自律移動掃除機
US7721829B2 (en) 2005-11-29 2010-05-25 Samsung Electronics Co., Ltd. Traveling robot
ES2334064T3 (es) 2005-12-02 2010-03-04 Irobot Corporation Robot modular.
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
EP2251757B1 (en) 2005-12-02 2011-11-23 iRobot Corporation Coverage robot mobility
EP2816434A3 (en) 2005-12-02 2015-01-28 iRobot Corporation Autonomous coverage robot
ES2522926T3 (es) 2005-12-02 2014-11-19 Irobot Corporation Robot Autónomo de Cubrimiento
EP1969431A1 (en) 2005-12-02 2008-09-17 Tennant Company Remote configuration of mobile surface maintenance machine settings
US7568259B2 (en) 2005-12-13 2009-08-04 Jason Yan Robotic floor cleaner
KR100778125B1 (ko) 2005-12-19 2007-11-21 삼성광주전자 주식회사 콤팩트한 로봇청소기
DE502005009101D1 (de) 2005-12-20 2010-04-08 Wessel Werk Gmbh Selbstfahrende Saugreinigungsvorrichtung
KR100683074B1 (ko) 2005-12-22 2007-02-15 (주)경민메카트로닉스 로봇청소기
TWM294301U (en) 2005-12-27 2006-07-21 Supply Internat Co Ltd E Self-propelled vacuum cleaner with dust collecting structure
KR100761997B1 (ko) 2005-12-29 2007-09-28 에이스로봇 주식회사 청소로봇용 휠 어셈블리
WO2008013568A2 (en) 2005-12-30 2008-01-31 Irobot Corporation Autonomous mobile robot
KR20070074147A (ko) 2006-01-06 2007-07-12 삼성전자주식회사 청소기 시스템
KR20070074146A (ko) 2006-01-06 2007-07-12 삼성전자주식회사 청소기 시스템
JP5132108B2 (ja) 2006-02-02 2013-01-30 株式会社Ｓｏｋｕｄｏ 基板処理装置
JP2007213236A (ja) 2006-02-08 2007-08-23 Sharp Corp 自律走行ロボットの経路計画方法及び自律走行ロボット
EP1987407B1 (en) 2006-02-13 2013-04-24 Koninklijke Philips Electronics N.V. Robotic vacuum cleaning
JP2007226322A (ja) 2006-02-21 2007-09-06 Sharp Corp ロボットコントロールシステム
KR100704487B1 (ko) 2006-03-15 2007-04-09 엘지전자 주식회사 이동로봇의 흡입헤드
EP2013671B1 (en) 2006-03-17 2018-04-25 iRobot Corporation Lawn care robot
JP2007272665A (ja) 2006-03-31 2007-10-18 Matsushita Electric Ind Co Ltd 自走式掃除機およびそのプログラム
EP1842474A3 (en) 2006-04-04 2007-11-28 Samsung Electronics Co., Ltd. Robot cleaner system having robot cleaner and docking station
KR20070104989A (ko) 2006-04-24 2007-10-30 삼성전자주식회사 로봇청소기 시스템 및 그 먼지제거 방법
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
EP2018721A4 (en) 2006-05-12 2012-08-08 Irobot Corp METHOD AND DEVICE FOR CONTROLLING A REMOTE VEHICLE
KR100735565B1 (ko) * 2006-05-17 2007-07-04 삼성전자주식회사 구조광을 이용한 물체 검출 방법 및 이를 이용한 로봇
WO2007137234A2 (en) 2006-05-19 2007-11-29 Irobot Corporation Removing debris from cleaning robots
TWI293555B (en) 2006-05-23 2008-02-21 Ind Tech Res Inst Omni-directional robot cleaner
KR101245832B1 (ko) 2006-05-23 2013-03-21 삼성전자주식회사 장애물을 감지하는 장치 및 방법
JP2007316966A (ja) 2006-05-26 2007-12-06 Fujitsu Ltd 移動ロボット、その制御方法及びプログラム
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US7604675B2 (en) 2006-06-16 2009-10-20 Royal Appliance Mfg. Co. Separately opening dust containers
KR100791384B1 (ko) 2006-07-05 2008-01-07 삼성전자주식회사 특징점을 이용한 영역 구분 방법 및 장치와 이를 이용한이동 청소 로봇
US7974738B2 (en) 2006-07-05 2011-07-05 Battelle Energy Alliance, Llc Robotics virtual rail system and method
US8843244B2 (en) 2006-10-06 2014-09-23 Irobot Corporation Autonomous behaviors for a remove vehicle
US20080105445A1 (en) 2006-08-15 2008-05-08 Dayton Douglas C Modular landscaper
US7979945B2 (en) 2006-08-15 2011-07-19 Umagination Labs, L.P. Systems and methods for robotic gutter cleaning
US7886399B2 (en) 2006-08-15 2011-02-15 Umagination Labs, L.P. Systems and methods for robotic gutter cleaning along an axis of rotation
US8996172B2 (en) 2006-09-01 2015-03-31 Neato Robotics, Inc. Distance sensor system and method
EP1897476B1 (en) 2006-09-05 2010-06-09 LG Electronics Inc. Cleaning robot
TWI312279B (en) 2006-09-19 2009-07-21 Ind Tech Res Inst Robotic vacuum cleaner
KR100755611B1 (ko) 2006-09-22 2007-09-06 삼성전기주식회사 기울어짐 감지형 자동 운전 청소기 및 그 동작 제어 방법
JP2008084135A (ja) 2006-09-28 2008-04-10 Toshiba Corp 移動制御方法、移動ロボットおよび移動制御プログラム
US8046103B2 (en) 2006-09-29 2011-10-25 F Robotics Acquisitions Ltd. System and method for determining the location of a machine
US7891446B2 (en) 2006-10-06 2011-02-22 Irobot Corporation Robotic vehicle deck adjustment
US7784570B2 (en) 2006-10-06 2010-08-31 Irobot Corporation Robotic vehicle
US7654348B2 (en) 2006-10-06 2010-02-02 Irobot Corporation Maneuvering robotic vehicles having a positionable sensor head
AU2007347733B2 (en) 2006-10-06 2012-05-03 Irobot Corporation Robotic vehicle
US7600593B2 (en) 2007-01-05 2009-10-13 Irobot Corporation Robotic vehicle with dynamic range actuators
US7843431B2 (en) 2007-04-24 2010-11-30 Irobot Corporation Control system for a remote vehicle
US8644991B2 (en) 2006-10-06 2014-02-04 Irobot Corporation Maneuvering robotic vehicles
US8413752B2 (en) 2006-10-06 2013-04-09 Irobot Corporation Robotic vehicle
US20120183382A1 (en) 2006-10-06 2012-07-19 Irobot Corporation Robotic Vehicle
US8671513B2 (en) 2006-10-11 2014-03-18 Samsung Electronics Co., Ltd. Nozzle assembly having subsidiary brush unit
US20120137464A1 (en) 2006-10-11 2012-06-07 David K. Thatcher, Owner Mopping Machine
KR100818740B1 (ko) 2006-10-13 2008-04-01 엘지전자 주식회사 로봇청소기 및 그에 따른 제어방법
US8068935B2 (en) 2006-10-18 2011-11-29 Yutaka Kanayama Human-guided mapping method for mobile robot
USD556961S1 (en) 2006-10-31 2007-12-04 Irobot Corporation Robot
US20100286791A1 (en) 2006-11-21 2010-11-11 Goldsmith David S Integrated system for the ballistic and nonballistic infixion and retrieval of implants
JP2008132299A (ja) 2006-11-28 2008-06-12 Samsung Kwangju Electronics Co Ltd 掃除機
KR100759919B1 (ko) 2006-11-28 2007-09-18 삼성광주전자 주식회사 로봇청소기 및 그 제어방법
US8095238B2 (en) 2006-11-29 2012-01-10 Irobot Corporation Robot development platform
US8010229B2 (en) 2006-12-05 2011-08-30 Electronics And Telecommunications Research Institute Method and apparatus for returning cleaning robot to charge station
KR100815570B1 (ko) 2006-12-06 2008-03-20 삼성광주전자 주식회사 로봇청소기시스템 및 그 제어방법
KR101211498B1 (ko) 2006-12-18 2012-12-12 삼성전자주식회사 청소로봇
US7753616B2 (en) 2006-12-21 2010-07-13 Greer Robert F System, method and composition for adhering preformed thermoplastic traffic control signage to pavement
RU2436491C2 (ru) 2006-12-21 2011-12-20 Конинклейке Филипс Электроникс Н.В. Чистящая насадка и способ чистки пылесосом
US8136200B2 (en) 2007-01-22 2012-03-20 Koninklijke Philips Electronics N.V. Robotic cleaning head
KR101204440B1 (ko) 2007-02-26 2012-11-26 삼성전자주식회사 로봇청소기와 도킹스테이션을 구비한 로봇청소기 시스템
US8265793B2 (en) 2007-03-20 2012-09-11 Irobot Corporation Mobile robot for telecommunication
US8200600B2 (en) 2007-03-20 2012-06-12 Irobot Corporation Electronic system condition monitoring and prognostics
EP2380475B1 (en) 2007-03-27 2015-04-08 Samsung Electronics Co., Ltd. Robot cleaner with improved dust collector
AU2008239477B2 (en) 2007-03-29 2010-08-05 Irobot Corporation Robot operator control unit configuration system and method
US7878105B2 (en) 2007-04-02 2011-02-01 Grinnell More Mitigating recoil in a ballistic robot
US20090180668A1 (en) 2007-04-11 2009-07-16 Irobot Corporation System and method for cooperative remote vehicle behavior
US8196251B2 (en) 2007-04-26 2012-06-12 Irobot Corporation Gutter cleaning robot
JP5144752B2 (ja) 2007-05-09 2013-02-13 アイロボット コーポレイション 自律カバレッジロボット
US8255092B2 (en) 2007-05-14 2012-08-28 Irobot Corporation Autonomous behaviors for a remote vehicle
JP4811347B2 (ja) 2007-05-24 2011-11-09 富士通株式会社 校正ロボットシステム及び距離センサの校正方法
US8874261B2 (en) 2007-07-25 2014-10-28 Deere & Company Method and system for controlling a mobile robot
JP5039468B2 (ja) 2007-07-26 2012-10-03 株式会社Ｓｏｋｕｄｏ 基板洗浄装置およびそれを備えた基板処理装置
KR20090028359A (ko) 2007-09-14 2009-03-18 삼성광주전자 주식회사 이동체의 휠구동장치
JP2009071235A (ja) 2007-09-18 2009-04-02 Sokudo:Kk 基板処理装置
US7997118B2 (en) 2007-09-26 2011-08-16 Dow Global Technologies Llc Scrub testing devices and methods
KR101330735B1 (ko) 2007-10-17 2013-11-20 삼성전자주식회사 로봇청소기
US8798792B2 (en) 2007-10-30 2014-08-05 Lg Electronics Inc. Detecting apparatus of robot cleaner and controlling method of robot cleaner
KR101461185B1 (ko) 2007-11-09 2014-11-14 삼성전자 주식회사 스트럭쳐드 라이트를 이용한 3차원 맵 생성 장치 및 방법
US20120312221A1 (en) 2007-12-07 2012-12-13 iRobot Corpoartion Submersible vehicles and methods for propelling and/or powering the same in an underwater environment
US8166904B2 (en) 2007-12-12 2012-05-01 Irobot Corporation Delivery systems for pressure protecting and delivering a submerged payload and methods for using the same
US7942107B2 (en) 2007-12-12 2011-05-17 Irobot Corporation Delivery systems for pressure protecting and delivering a submerged payload and methods for using the same
US8336479B2 (en) 2008-01-22 2012-12-25 Irobot Corporation Systems and methods of use for submerged deployment of objects
US8755936B2 (en) 2008-01-28 2014-06-17 Seegrid Corporation Distributed multi-robot system
CN101970187A (zh) 2008-01-28 2011-02-09 塞格瑞德公司 用于对服务机器人所收集的时空信息进行再利用的方法
JP2009193240A (ja) 2008-02-13 2009-08-27 Toyota Motor Corp 移動ロボット及び環境地図の生成方法
JP4999734B2 (ja) 2008-03-07 2012-08-15 株式会社日立製作所 環境地図生成装置、方法及びプログラム
US8244469B2 (en) 2008-03-16 2012-08-14 Irobot Corporation Collaborative engagement for target identification and tracking
US8534983B2 (en) 2008-03-17 2013-09-17 Irobot Corporation Door breaching robotic manipulator
US8127704B2 (en) 2008-03-26 2012-03-06 Irobot Corporation Submersible vehicles and methods for transiting the same in a body of liquid
KR101358477B1 (ko) 2008-04-02 2014-02-05 아이로보트 코퍼레이션 로보틱스 시스템
US8961695B2 (en) 2008-04-24 2015-02-24 Irobot Corporation Mobile robot for cleaning
KR101543490B1 (ko) 2008-04-24 2015-08-10 아이로보트 코퍼레이션 로봇 가능화 모바일 제품을 위한 위치 측정 시스템, 위치 결정 시스템 및 운전 시스템의 적용
WO2009131945A2 (en) 2008-04-25 2009-10-29 Applied Materials, Inc. High throughput chemical mechanical polishing system
US8447613B2 (en) 2008-04-28 2013-05-21 Irobot Corporation Robot and server with optimized message decoding
US8418642B2 (en) 2008-05-09 2013-04-16 Irobot Corporation Unmanned submersible vehicles and methods for operating the same in a body of liquid
USD586959S1 (en) 2008-05-09 2009-02-17 Irobot Corporation Autonomous coverage robot
CN101587447B (zh) 2008-05-23 2013-03-27 国际商业机器公司 基于预测的事务执行***和方法
US8001651B2 (en) 2008-06-19 2011-08-23 National Taipei University Of Technology Floor washing robot
US8408956B1 (en) 2008-07-08 2013-04-02 Irobot Corporation Payload delivery units for pressure protecting and delivering a submerged payload and methods for using the same
WO2010016210A1 (ja) 2008-08-08 2010-02-11 パナソニック株式会社 掃除機の制御装置及び制御方法、掃除機、掃除機の制御プログラム、及び、集積電子回路
JP5141507B2 (ja) 2008-08-25 2013-02-13 村田機械株式会社 自律移動装置
US8237389B2 (en) 2008-11-12 2012-08-07 Irobot Corporation Multi mode safety control module
FR2938578B1 (fr) 2008-11-14 2016-02-26 Pmps Tech Robot motorise nettoyeur de piscine ou analogue en fonctionnement immerge dans un fluide
US20100125968A1 (en) 2008-11-26 2010-05-27 Howard Ho Automated apparatus and equipped trashcan
USD593265S1 (en) 2008-12-02 2009-05-26 Bissell Homecare, Inc. Robotic vacuum cleaner
US7926598B2 (en) 2008-12-09 2011-04-19 Irobot Corporation Mobile robotic vehicle
KR20100066622A (ko) 2008-12-10 2010-06-18 삼성전자주식회사 바퀴조립체 및 이를 가지는 로봇 청소기
KR101572851B1 (ko) 2008-12-22 2015-11-30 삼성전자 주식회사 동적 환경에서 모바일 플랫폼의 지도 작성방법
DE202008017137U1 (de) 2008-12-31 2009-03-19 National Kaohsiung First University Of Science And Technology Fahrbares Reinigungsgerät
US8417188B1 (en) 2009-02-03 2013-04-09 Irobot Corporation Systems and methods for inspection and communication in liquid petroleum product
US20100206336A1 (en) 2009-02-18 2010-08-19 Sami Souid Extendable vacuum cleaner
US8727410B2 (en) 2009-02-24 2014-05-20 Irobot Corporation Method and device for manipulating an object
US20100292884A1 (en) 2009-05-12 2010-11-18 Rogelio Manfred Neumann Device for Influencing Navigation of an Autonomous Vehicle
KR101484940B1 (ko) 2009-05-14 2015-01-22 삼성전자 주식회사 로봇청소기 및 그 제어방법
GB0909148D0 (en) 2009-05-28 2009-07-01 F Robotics Acquisitions Ltd Localisation system
KR20100132891A (ko) 2009-06-10 2010-12-20 삼성광주전자 주식회사 청소장치 및 이를 이용한 먼지 포집 방법
US8774970B2 (en) 2009-06-11 2014-07-08 S.C. Johnson & Son, Inc. Trainable multi-mode floor cleaning device
EP2260750A3 (en) 2009-06-12 2014-04-23 Samsung Electronics Co., Ltd. Robot cleaner and method of controlling traveling thereof
US8318499B2 (en) 2009-06-17 2012-11-27 Abbott Laboratories System for managing inventories of reagents
US8706297B2 (en) 2009-06-18 2014-04-22 Michael Todd Letsky Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same
US8438694B2 (en) 2009-06-19 2013-05-14 Samsung Electronics Co., Ltd. Cleaning apparatus
KR101322537B1 (ko) 2009-06-30 2013-10-28 엘지전자 주식회사 로봇청소기
US8874268B2 (en) 2009-07-06 2014-10-28 Lg Electronics Inc. Robot cleaner
DE102009027602A1 (de) 2009-07-10 2011-01-20 Robert Bosch Gmbh Selbststeuerndes Fahrzeug
US8364309B1 (en) 2009-07-14 2013-01-29 Bailey Bendrix L User-assisted robot navigation system
JP5512225B2 (ja) 2009-07-31 2014-06-04 Ｃｙｂｅｒｄｙｎｅ株式会社 サイドブラシ装置を備えた自走式清掃ロボット
US8527113B2 (en) 2009-08-07 2013-09-03 Irobot Corporation Remote vehicle
TWI419671B (zh) 2009-08-25 2013-12-21 Ind Tech Res Inst 具有掃地與吸塵功能的清潔裝置
US8548626B2 (en) 2009-09-03 2013-10-01 Irobot Corporation Method and device for manipulating an object
US7934571B2 (en) 2009-09-04 2011-05-03 Jane-Ferng Chiu Moving base for robotic vacuum cleaner
CN102577362B (zh) 2009-09-29 2014-12-31 夏普株式会社 周边设备控制***、显示装置及周边设备
WO2011044298A2 (en) 2009-10-06 2011-04-14 Escrig M Teresa Systems and methods for establishing an environmental representation
EP2316322A3 (en) 2009-11-02 2011-06-29 LG Electronics Inc. Robot cleaner
DE102010000174B4 (de) 2010-01-22 2022-09-01 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Verfahren zur Reinigung eines Raumes mittels eines selbsttätig verfahrbaren Reinigungsgerätes
EP3192419B1 (en) 2010-02-16 2021-04-07 iRobot Corporation Vacuum brush
DE102010000573B4 (de) * 2010-02-26 2022-06-23 Vorwerk & Co. Interholding Gmbh Verfahren zur Leistungssteuerung eines Saug-/Kehrgeräts
US20130239870A1 (en) 2010-03-01 2013-09-19 Irobot Corporation Underwater Vehicle Bouyancy System
KR20110119118A (ko) 2010-04-26 2011-11-02 엘지전자 주식회사 로봇 청소기, 및 이를 이용한 원격 감시 시스템
US9104202B2 (en) 2010-05-11 2015-08-11 Irobot Corporation Remote vehicle missions and systems for supporting remote vehicle missions
US9400503B2 (en) 2010-05-20 2016-07-26 Irobot Corporation Mobile human interface robot
PL2388561T3 (pl) 2010-05-20 2016-05-31 Mettler Toledo Gmbh Urządzenie laboratoryjne do przygotowywania próbek
US8918213B2 (en) 2010-05-20 2014-12-23 Irobot Corporation Mobile human interface robot
US9014848B2 (en) 2010-05-20 2015-04-21 Irobot Corporation Mobile robot system
US8935005B2 (en) 2010-05-20 2015-01-13 Irobot Corporation Operating a mobile robot
JP5510081B2 (ja) 2010-06-02 2014-06-04 日本精工株式会社 障害物回避支援装置、障害物回避支援方法及び移動体
KR101677634B1 (ko) 2010-07-12 2016-11-18 엘지전자 주식회사 로봇 청소기 및 이의 제어 방법
KR101483541B1 (ko) 2010-07-15 2015-01-19 삼성전자주식회사 로봇청소기, 메인터넌스 스테이션 그리고 이들을 가지는 청소시스템
JP5540959B2 (ja) 2010-07-15 2014-07-02 横河電機株式会社 波形測定装置
KR101484942B1 (ko) 2010-08-26 2015-01-22 삼성전자 주식회사 청소기 및 그 제어방법
DE102010037672B4 (de) 2010-09-21 2023-03-23 Vorwerk & Co. Interholding Gmbh Rotierbare Kehrbürste sowie selbsttätig verfahrbares Bodengerät mit einer derartigen Kehrbürste
KR20120035519A (ko) 2010-10-05 2012-04-16 삼성전자주식회사 먼지 유입 감지 유닛 및 이를 구비하는 로봇 청소기
CN201840418U (zh) 2010-10-11 2011-05-25 洋通工业股份有限公司 自走吸尘器的可拆式滚刷装置
CN201840416U (zh) 2010-10-11 2011-05-25 洋通工业股份有限公司 自走吸尘器的集尘装置
KR101573742B1 (ko) 2010-10-25 2015-12-07 삼성전자주식회사 로봇청소기
KR20120044768A (ko) 2010-10-28 2012-05-08 엘지전자 주식회사 로봇 청소기 및 이의 제어 방법
KR101496913B1 (ko) 2010-11-03 2015-03-02 삼성전자 주식회사 로봇청소기와 자동배출 스테이션 및 이를 가지는 로봇청소기 시스템
TWI435702B (zh) 2010-11-09 2014-05-01 Ind Tech Res Inst 自捲式靜電除塵裝置
US8543562B2 (en) 2010-11-18 2013-09-24 Sling Media Pvt Ltd Automated searching for solutions to support self-diagnostic operations of web-enabled devices
KR101752190B1 (ko) 2010-11-24 2017-06-30 삼성전자주식회사 로봇청소기 및 그 제어방법
US9146558B2 (en) 2010-11-30 2015-09-29 Irobot Corporation Mobile robot and method of operating thereof
EP2460624A1 (de) 2010-12-06 2012-06-06 Jöst GmbH Schleifvorrichtung zum maschinellen Schleifen von Rotorblättern für Windkraftanlagen
US9020636B2 (en) 2010-12-16 2015-04-28 Saied Tadayon Robot for solar farms
US20120152280A1 (en) 2010-12-18 2012-06-21 Zenith Technologies, Llc Touch Sensitive Display For Surface Cleaner
TWM407725U (en) 2010-12-20 2011-07-21 Micro Star Internat Corp Ltd Dust collecting container and vacuum cleaner applying the same
TW201227190A (en) 2010-12-28 2012-07-01 Hon Hai Prec Ind Co Ltd System and method for controlling robots via cloud computing
USD670877S1 (en) 2010-12-30 2012-11-13 Irobot Corporation Robot vacuum cleaner
US8930019B2 (en) 2010-12-30 2015-01-06 Irobot Corporation Mobile human interface robot
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
US8741013B2 (en) 2010-12-30 2014-06-03 Irobot Corporation Dust bin for a robotic vacuum
USD672928S1 (en) 2010-12-30 2012-12-18 Irobot Corporation Air filter for a robotic vacuum
JP5832553B2 (ja) 2010-12-30 2015-12-16 アイロボット コーポレイション カバレッジロボットナビゲーション
USD659311S1 (en) 2010-12-30 2012-05-08 Irobot Corporation Robot vacuum cleaner
US20120167917A1 (en) 2011-01-03 2012-07-05 Gilbert Jr Duane L Autonomous coverage robot
US8878734B2 (en) 2011-01-13 2014-11-04 Irobot Corporation Antenna support structures
KR101523980B1 (ko) 2011-01-18 2015-06-01 삼성전자 주식회사 로봇 청소기
US9346499B2 (en) 2011-01-27 2016-05-24 Irobot Corporation Resilient wheel assemblies
US9323250B2 (en) 2011-01-28 2016-04-26 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
CN103459099B (zh) 2011-01-28 2015-08-26 英塔茨科技公司 与一个可移动的远程机器人相互交流
US9152244B2 (en) 2011-01-30 2015-10-06 Lg Electronics Inc. Image display apparatus and method for operating the same
EP2494900B1 (en) 2011-03-04 2014-04-09 Samsung Electronics Co., Ltd. Debris detecting unit and robot cleaning device having the same
JP5222971B2 (ja) 2011-03-31 2013-06-26 富士ソフト株式会社 歩行ロボット装置及びその制御プログラム
KR101842460B1 (ko) 2011-04-12 2018-03-27 엘지전자 주식회사 로봇 청소기, 이의 원격 감시 시스템 및 방법
US8881683B2 (en) 2011-04-13 2014-11-11 Peter B. Lindgren Fish cage screen and cleaning apparatus
US20120260443A1 (en) 2011-04-13 2012-10-18 Lindgren Peter B Aquaculture cage screen and cleaning apparatus
US9031697B2 (en) 2011-04-15 2015-05-12 Irobot Corporation Auto-reach method for a remote vehicle
CN103491838B (zh) 2011-04-29 2016-10-26 艾罗伯特公司 机器人真空吸尘器
EP2537642A1 (en) 2011-06-23 2012-12-26 Raytheon BBN Technologies Corp. Robot fabricator
KR101311295B1 (ko) 2011-07-13 2013-09-25 주식회사 유진로봇 이동 로봇의 휠 조립체
US20130032078A1 (en) 2011-07-15 2013-02-07 Irobot Corporation Sea Glider
US8800101B2 (en) 2011-07-25 2014-08-12 Lg Electronics Inc. Robot cleaner and self testing method of the same
US20130145572A1 (en) 2011-07-27 2013-06-13 Irobot Corporation Surface Cleaning Robot
IL214419A0 (en) 2011-08-02 2011-11-30 Josef Porat Pool cleaner with brush
JP5744676B2 (ja) 2011-08-18 2015-07-08 株式会社ダスキン 環境地図を用いた掃除ロボット
KR101931365B1 (ko) 2011-08-22 2018-12-24 삼성전자주식회사 로봇청소기 및 그 제어방법
US8631541B2 (en) 2011-08-23 2014-01-21 Bissell Homecare, Inc. Auxiliary brush for vacuum cleaner
US20130054129A1 (en) 2011-08-26 2013-02-28 INRO Technologies Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
USD682362S1 (en) 2011-09-01 2013-05-14 Irobot Corporation Remote controlled vehicle
US20130060357A1 (en) 2011-09-01 2013-03-07 Sony Corporation, A Japanese Corporation Facilitated use of heterogeneous home-automation edge components via a common application programming interface
US9037296B2 (en) 2011-09-07 2015-05-19 Lg Electronics Inc. Robot cleaner, and system and method for remotely controlling the same
GB2494446B (en) 2011-09-09 2013-12-18 Dyson Technology Ltd Autonomous cleaning appliance
KR101907161B1 (ko) 2011-10-06 2018-10-15 삼성전자주식회사 로봇청소기
US20130092190A1 (en) 2011-10-18 2013-04-18 Samsung Electronics Co., Ltd. Robot cleaner and control method for the same
US9596971B2 (en) 2011-10-21 2017-03-21 Samsung Electronics Co., Ltd. Robot cleaner and control method for the same
US8903644B2 (en) 2011-11-29 2014-12-02 Irobot Corporation Digest for localization or fingerprinted overlay
KR101857295B1 (ko) 2011-12-16 2018-05-14 엘지전자 주식회사 이동형 로봇 청소기
IL217093A (en) * 2011-12-19 2015-06-30 P S I Pool Services Israel Ltd Automatic Pool Cleaner and Energy Saving Pool Cleaner Method
US9427876B2 (en) 2011-12-19 2016-08-30 Irobot Corporation Inflatable robots, robotic components and assemblies and methods including same
KR101960816B1 (ko) 2011-12-22 2019-03-22 삼성전자주식회사 로봇청소기
WO2013105431A1 (ja) 2012-01-13 2013-07-18 シャープ株式会社 集塵装置
EP2624177B1 (de) 2012-02-01 2014-04-02 Siemens Aktiengesellschaft USB-Stick
KR20130090438A (ko) 2012-02-04 2013-08-14 엘지전자 주식회사 로봇 청소기
US8665060B2 (en) 2012-02-06 2014-03-04 Transcend Information, Inc. Method of controlling storage device and storage device thereof
EP2624180A1 (en) 2012-02-06 2013-08-07 Xabier Uribe-Etxebarria Jimenez System of integrating remote third party services
DE102012201870A1 (de) 2012-02-08 2013-08-08 RobArt GmbH Verfahren zum automatischen Auslösen einer Selbstlokalisierung
KR101984214B1 (ko) 2012-02-09 2019-05-30 삼성전자주식회사 로봇 청소기의 청소 작업을 제어하기 위한 장치 및 방법
US8958911B2 (en) 2012-02-29 2015-02-17 Irobot Corporation Mobile robot
US9463574B2 (en) 2012-03-01 2016-10-11 Irobot Corporation Mobile inspection robot
CN103284665A (zh) 2012-03-02 2013-09-11 恩斯迈电子(深圳)有限公司 清洁机器人及其控制方法
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
CN103284653B (zh) 2012-03-02 2017-07-14 恩斯迈电子(深圳)有限公司 清洁机器人及其控制方法
KR101901930B1 (ko) 2012-03-04 2018-09-27 엘지전자 주식회사 홈 디바이스의 제어 장치, 제어 방법 및 제어를 위한 타임라인 ｕｉ
KR101932080B1 (ko) 2012-03-08 2018-12-24 엘지전자 주식회사 아지테이터 및 이를 포함하는 청소기
US9510292B2 (en) 2012-03-13 2016-11-29 Qualcomm Incorporated Limiting wireless discovery range
CN107024933B (zh) 2012-03-15 2021-07-06 艾罗伯特公司 包括传感器阵列的用于机器人的缓冲器
US9211648B2 (en) 2012-04-05 2015-12-15 Irobot Corporation Operating a mobile robot
CN103371770B (zh) 2012-04-12 2017-06-23 中弘智能高科技（深圳）有限公司 自走及手提两用式吸尘器
JP2013220422A (ja) 2012-04-17 2013-10-28 Tokyo Ohka Kogyo Co Ltd 塗布装置及び塗布方法
JP5937877B2 (ja) 2012-04-19 2016-06-22 シャープ株式会社 自走式掃除機
US20130338525A1 (en) 2012-04-24 2013-12-19 Irobot Corporation Mobile Human Interface Robot
KR101231932B1 (ko) 2012-04-24 2013-03-07 주식회사 모뉴엘 로봇 청소기
JP6104519B2 (ja) 2012-05-07 2017-03-29 シャープ株式会社 自走式電子機器
JP6071251B2 (ja) 2012-05-30 2017-02-01 三菱電機株式会社 自走式掃除機
KR101949277B1 (ko) 2012-06-18 2019-04-25 엘지전자 주식회사 이동 로봇
KR101984575B1 (ko) 2012-06-25 2019-09-03 엘지전자 주식회사 로봇 청소기 및 그 제어 방법
ES2834108T3 (es) 2012-07-16 2021-06-16 Code On Network Coding Llc Codificación de red distribuida determinista
EP2689701B1 (en) 2012-07-25 2018-12-19 Samsung Electronics Co., Ltd. Autonomous cleaning device
CN104487864B (zh) * 2012-08-27 2017-06-23 伊莱克斯公司 机器人定位***
US8855914B1 (en) 2012-08-31 2014-10-07 Neato Robotics, Inc. Method and apparatus for traversing corners of a floored area with a robotic surface treatment apparatus
US10216957B2 (en) 2012-11-26 2019-02-26 Elwha Llc Methods and systems for managing data and/or services for devices
US8533144B1 (en) 2012-11-12 2013-09-10 State Farm Mutual Automobile Insurance Company Automation and security application store suggestions based on usage data
KR20140079274A (ko) 2012-12-18 2014-06-26 삼성전자주식회사 홈 네트워크 시스템에서 에너지 소비를 관리하는 방법 및 장치
CN110223495A (zh) 2012-12-18 2019-09-10 三星电子株式会社 用于在家庭网络***中远程控制家庭设备的方法和设备
FR2999410B1 (fr) 2012-12-19 2015-11-06 Seb Sa Trappe pour suceur d'aspirateur
CA2886451C (en) 2013-01-18 2024-01-02 Irobot Corporation Environmental management systems including mobile robots and methods using same
US9233472B2 (en) 2013-01-18 2016-01-12 Irobot Corporation Mobile robot providing environmental mapping for household environmental control
US9375847B2 (en) 2013-01-18 2016-06-28 Irobot Corporation Environmental management systems including mobile robots and methods using same
KR20140108821A (ko) 2013-02-28 2014-09-15 삼성전자주식회사 이동 로봇 및 이동 로봇의 위치 추정 및 맵핑 방법
US9326654B2 (en) 2013-03-15 2016-05-03 Irobot Corporation Roller brush for surface cleaning robots
KR102020215B1 (ko) 2013-03-23 2019-09-10 삼성전자주식회사 로봇 청소기 및 로봇 청소기의 제어방법
US9037396B2 (en) 2013-05-23 2015-05-19 Irobot Corporation Simultaneous localization and mapping for a mobile robot
US20150005937A1 (en) 2013-06-27 2015-01-01 Brain Corporation Action selection apparatus and methods
KR102094347B1 (ko) 2013-07-29 2020-03-30 삼성전자주식회사 자동 청소 시스템, 청소 로봇 및 그 제어 방법
KR102083188B1 (ko) 2013-07-29 2020-03-02 삼성전자주식회사 청소 로봇 및 그 제어 방법
JP6178677B2 (ja) 2013-09-09 2017-08-09 シャープ株式会社 自走式電子機器
KR102152641B1 (ko) 2013-10-31 2020-09-08 엘지전자 주식회사 이동 로봇
EP2884364B1 (en) 2013-12-12 2018-09-26 Hexagon Technology Center GmbH Autonomous gardening vehicle with camera
WO2015090398A1 (en) 2013-12-19 2015-06-25 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
JP6396475B2 (ja) 2013-12-23 2018-09-26 エルジー エレクトロニクス インコーポレイティド ロボット掃除機
EP3091887A4 (en) 2014-01-10 2017-09-13 iRobot Corporation Autonomous mobile robot
US9305219B2 (en) 2014-01-23 2016-04-05 Mitsubishi Electric Research Laboratories, Inc. Method for estimating free space using a camera system
KR101578884B1 (ko) 2014-04-25 2015-12-29 에브리봇 주식회사 거리 센서, 로봇 청소기 및 이의 제어 방법
DE102014110875A1 (de) 2014-07-10 2016-01-28 Vorwerk & Co. Interholding Gmbh Verfahrteil, insbesondere selbsttätig verfahrbares Bodenreinigungsgerät
WO2016005011A1 (en) 2014-07-10 2016-01-14 Aktiebolaget Electrolux Method in a robotic cleaning device for facilitating detection of objects from captured images
JP6459098B2 (ja) 2014-09-08 2019-01-30 アクチエボラゲット エレクトロルックス ロボット真空掃除機
KR102271785B1 (ko) 2014-09-08 2021-06-30 에이비 엘렉트로룩스 로봇 진공 청소기
US9798328B2 (en) * 2014-10-10 2017-10-24 Irobot Corporation Mobile robot area cleaning
US9744670B2 (en) 2014-11-26 2017-08-29 Irobot Corporation Systems and methods for use of optical odometry sensors in a mobile robot
US9519289B2 (en) 2014-11-26 2016-12-13 Irobot Corporation Systems and methods for performing simultaneous localization and mapping using machine vision systems
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
US9704043B2 (en) 2014-12-16 2017-07-11 Irobot Corporation Systems and methods for capturing images and annotating the captured images with information
DE102015100977A1 (de) * 2015-01-23 2016-07-28 Vorwerk & Co. Interholding Gmbh Gerät zur Bearbeitung einer Oberfläche
CN105982611A (zh) 2016-04-14 2016-10-05 北京小米移动软件有限公司 自主清洁设备
WO2018074848A1 (en) 2016-10-19 2018-04-26 Samsung Electronics Co., Ltd. Robot vacuum cleaner

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103853154A (zh) * 2012-12-05 2014-06-11 德国福维克控股公司 可行走的清洁设备和运行这种设备的方法
CN103948354A (zh) * 2014-05-05 2014-07-30 苏州爱普电器有限公司 一种地面清洁机器人及其控制方法

Also Published As

Publication number Publication date
US20170344019A1 (en) 2017-11-30
CN106998980A (zh) 2017-08-01
EP3230814B1 (en) 2021-02-17
EP3230814A1 (en) 2017-10-18
US10877484B2 (en) 2020-12-29
WO2016091291A1 (en) 2016-06-16

Similar Documents

Publication Publication Date Title
CN106998980B (zh) 使用激光传感器检测地板类型
US10149589B2 (en) Sensing climb of obstacle of a robotic cleaning device
CN106998984B (zh) 用于机器人清洁设备的清洁方法
CN109152501B (zh) 调整机器人清洁设备的高度
WO2016096046A1 (en) Measuring brush roll current for determining type of surface
US11474533B2 (en) Method of detecting a difference in level of a surface in front of a robotic cleaning device
US20160313741A1 (en) Prioritizing cleaning areas
JP7035300B2 (ja) 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
US20200031226A1 (en) Estimating wheel slip of a robotic cleaning device
WO2016005011A1 (en) Method in a robotic cleaning device for facilitating detection of objects from captured images
US20220299650A1 (en) Detecting objects using a line array
US20190246852A1 (en) Robotic cleaning device and a method of controlling movement of the robotic cleaning device
WO2024008279A1 (en) Robotic cleaning device using optical sensor for navigation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant