EP3311197A2 - Optical triangulation sensor for distance measurement - Google Patents
Optical triangulation sensor for distance measurementInfo
- Publication number
- EP3311197A2 EP3311197A2 EP16741218.8A EP16741218A EP3311197A2 EP 3311197 A2 EP3311197 A2 EP 3311197A2 EP 16741218 A EP16741218 A EP 16741218A EP 3311197 A2 EP3311197 A2 EP 3311197A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- carrier
- sensor
- light source
- optical triangulation
- light
- 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.)
- Pending
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 56
- 238000005259 measurement Methods 0.000 title abstract description 22
- 238000009434 installation Methods 0.000 claims description 6
- 239000000853 adhesive Substances 0.000 claims description 5
- 230000001070 adhesive effect Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 description 15
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000004033 plastic Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 3
- 238000001746 injection moulding Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000012790 adhesive layer Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Definitions
- the invention relates to an optical triangulation sensor for
- autonomous robots are increasingly being used in the household sector, for example for cleaning or for monitoring an apartment or other premises.
- Autonomous robots include sensors that enable them to detect obstacles (such as walls, furniture, people, etc.) and thereby measure the environment. This allows the robot to respond appropriately to obstacles.
- the obstacles can be detected for example by a sensor (crash sensors), which reacts to collisions of the robot with objects. If the robot detects such an obstacle, it can turn around or choose another route to its destination. For more demanding tasks such an approach is not enough. If, for example, the robot is to plan a route from one room of an apartment to another room in the apartment, then he must also be able to capture distant objects.
- the robot can optically detect obstacles without contact.
- the achievable accuracy is strongly dependent on the geometric arrangement of the individual sensor components relative to one another. Even slight displacements of a transmitter unit (e.g., light source) or one
- Receiver unit e.g., camera
- Receiver unit can lead to measurement errors. This applies to both the manufacture, as well as the operation of the sensors. In operation, for example, temperature fluctuations and resulting thermal expansions
- the object underlying the invention is to provide a
- the device comprises a light source for generating structured light, a receiving optical system, at least one fastening element and a carrier having a first groove on a side surface of the carrier, the light source and / or the receiving optical system being arranged at least partially in the first groove and is fixed by the fastener on the carrier.
- the device comprises a light source for generating structured light having a first optical axis, a receiving optical system having a second optical axis and a carrier, through which a light channel passes.
- a photosensitive sensor is arranged on a rear side of the carrier such that light incident through the light channel at least partially falls on the sensor, wherein the sensor is connected to the carrier only at two or more contact surfaces along a fastening line.
- Triangulation sensor for measuring distances, a light source for generating structured light, a receiving optics and a sensor board with two or more juxtaposed photosensitive sensor chips.
- Another embodiment relates to optical triangulation sensor with a light source for the production of structured light, a receiving optics, a sensor board and with one or more photosensitive sensor chips.
- a diaphragm is arranged so that stray light emitted by the light source is shielded. Furthermore, a mobile robot will be described. According to one
- the robot has an optical triangulation sensor, which is installed in a closed installation chamber of the robot.
- the mounting chamber has at least one window through which light emitted by the triangulation sensor can emerge and reflected light can enter, wherein the at least one window is internally provided with an antireflection coating.
- Figure 1 shows the physical principle of a distance measurement using an electro-optical triangulation sensor.
- Figure 2 shows an embodiment of an apparatus according to the present invention in an exploded view.
- Figure 3 shows an embodiment of a groove in a carrier for receiving a radiation source.
- FIG. 4-7 show different examples of fasteners for attachment of a radiation source to the carrier of FIG. 3.
- FIG. 8 shows a shield structure on a carrier.
- Figure 9 shows an embodiment of a carrier for attachment of a receiving optics.
- Figure 10 shows an embodiment of a camera board with a photosensitive sensor.
- FIG. 11 shows an embodiment of a working machine.
- a structured light source 20 e.g., a light emitting diode or a light emitting diode
- the angle of incidence ⁇ can be determined.
- the distance d can be calculated.
- the predefined distance h is through the
- Specified sensor structure and may for example be in a range of 1 cm to 10 cm, for example in a range of 2cm to 7cm.
- h is the normal distance of the optical axes of light source 20 and receiving optics 23.
- FIGS. 2A and 2B show the same example of an optical
- the triangulation sensor includes one (e.g.
- the carrier 10 has on a first side surface a first groove 12 referred to recess.
- the carrier 10 may further consist of a material with a low coefficient of thermal expansion, for example plastic, ceramic or metal.
- the carrier 10 may be made by plastic injection molding.
- the carrier 10 can also be made of a material with a high coefficient of thermal expansion
- the light source 20 is arranged in the first groove 12.
- the structured light source 20 may include an (adapter) housing 21, a
- Radiation source 22 e.g., a laser diode or a light emitting diode
- a laser diode or a light emitting diode e.g., a laser diode or a light emitting diode
- the housing 21 prevents the radiation source 22 is damaged by external influences.
- the light source 20 may, for example (at least in sections) a round
- the light source 20 may have any other cross-sections, such as an oval, a rectangular, a polygonal or diamond-shaped cross-section. In general, the light source 20 is thus cylindrical or prismatic.
- the cross section of the light source 20 does not have to be along its entire length Length (ie along its optical axis) be the same.
- the housing 21 of the light source 20 may, for example, at one end have a bulge, in the example of a
- Collimator lens is arranged. Different embodiments of the
- Fastener 24 will be described later.
- an adhesive for fixing the light source 20 to the carrier 10 see FIG. 2A, adhesive layer 24 '.
- the fastener 24 is only needed temporarily until the adhesive has cured and can then be removed.
- the light source 20 for structured light can emit focused, point-shaped, linear (or any differently structured) light 91.
- the light source 20 can continuously emit light 91.
- the light source 20 may emit light 91 only at intervals or after special control.
- the light 91 may have a wavelength between e.g. 400nm and 100nm. Larger and smaller wavelengths are possible.
- the carrier 10 may have a second groove designated as 13 recess.
- the receiving optics 23 or the entire camera module (which includes the receiving optics 23) can be arranged and also fixed in or on the groove 13 with the aid of a fastening element 25.
- the groove 13 is symmetrical to the groove 12.
- the grooves 12 and 13 are arranged on opposite side surfaces of the carrier 10. Another arrangement e.g. on a common side surface is also possible.
- the receiving optics 23 may be, for example, an optical lens. This receiving optical system 23 collects and concentrates the reflected radiation (beams 92, 93, 949.
- the receiving optical system 23 can consist of glass or plastic, for example, and can also consist of a plurality of individual lenses Sensor 30. In addition to or as an alternative to lenses, the receiving optics 23 may also comprise other optical components, such as one or more mirrors.
- the sensor 30 may be configured to detect at least a portion of the reflected radiation 92, 93, 94.
- CMOS Sensor Active Pixel Sensor
- CCD sensor Charge-Coupled Device
- some types of photodiodes eg, a position sensitive device, PSD, and a quadrant photodiode, QPD may also be considered as the sensor 30.
- receiving optics 23 and sensor 30 are combined in a camera module.
- the receiving optics 23 and the sensor 30 may be mounted separately from each other. This case is also shown in Figs. 2A and 2B.
- the receiving optics 23 is arranged in the second groove 13, wherein the groove 13 does not extend over the entire thickness of the carrier 10. So that the receiving optics 23 can pass on the reflected radiation to the sensor 30, the sensor is arranged behind the receiving optics 23.
- the receiving optics 23 and the sensor 30 may be mounted one behind another on two opposing major surfaces of the carrier 10 (front and back) and aligned with each other, the groove 13 being disposed on a stepped shoulder of the carrier 10 and thus does not extend over the entire thickness of the carrier 10.
- Front of the carrier 10 is reset in the lower region.
- the groove 12 thus extends in a side surface from the front of the carrier 10 to the recessed front, wherein the groove 13 is referred to as a light channel opening through the recessed front connects by the light to the back of the carrier (on which the sensor 30 is arranged ) can fall.
- the mounting of the sensor 30 i.e., a sensor board on which a photosensitive chip is disposed
- FIG. 3 shows a possible embodiment of the groove 12 arranged in the upper side surface (upper side) of the carrier 10.
- FIG. 3A is a perspective view
- FIG. 3B is a plan view.
- the cross section of the groove 12 may be triangular, rectangular, trapezoidal or diamond-shaped. Other shapes are possible.
- the cross section of the groove 12 and the light source 20 ie, its housing
- the cross section of the groove 12 and the light source 20 is so shaped that the inserted into the groove 12 light source 20 rests on the support areas 11, which are formed by side walls of the groove 12, only along two lines A and B (lines of contact).
- the illustrated embodiment are the
- Recess 14 may be increased, whereby the support areas 11 are interrupted, so that the light source 20 only in two sections (AI, A2, and Bl, B2) of the contact lines A and B rest.
- the remaining bearing surfaces 11 may be relatively short (about 1 mm) along the contact line, resulting in a total of four approximately "point-shaped" bearing areas where the light source 20 is in contact with the carrier 10.
- Thermally induced stresses may be caused by such a configuration of the carrier
- the position of the transmitting unit changes only minimally and in a defined, reversible manner as a result of thermal expansion of the carrier
- the accuracy of the measurement increases
- the statements about the groove 12 apply equally to the slot 13 and the receiving optics 23 fastened therein.
- FIGS. 4 to 7 show, by way of example, various types
- the fastening element 24 can be designed either in one, two or more parts.
- the fastening elements 24 are designed so that they press the light source 20 against the carrier 10 and fix it so non-positively on the carrier 10.
- the details of the fasteners 24 apply in the same way for the attachment of the transmitting unit 20 in the groove 12 as well as for the attachment of the receiving optics 23 in the groove 13.
- the force effect of the fasteners 24 on the light source 20 and the receiving optics 23 can in the direction of respective linear
- the fastening elements 24 are resilient and can therefore yield to a thermal expansion of the light source 20. In addition, they can apply a predefined force to the light source 20 (eg in a Direction normal to the longitudinal axis of the light source 20), a slipping of the
- Radiation unit 20 prevents shock or vibration. At the same time, the force can be defined so that the operation of the light source 20 is not
- FIG. 4 shows a one-part fastening element 24, which by means of
- Screw is screwed to the carrier 10.
- the fastening element 24 can be screwed to the side surface of the carrier 10, on which the groove 12 is located.
- the fastener 24 may be formed from a pre-bent sheet or suitably shaped (e.g.
- Fastener 24 is biased on the carrier 10 and the transmitting unit 20 fixed in the groove 12.
- Fastener 24 made in two parts. The two parts of the
- Fastener 24 consist of two pre-bent sheets or suitably shaped plastic parts which are spaced from each other on the carrier 10 (on opposite sides of the groove 12) are mounted. The two fasteners 24 do not necessarily have to be in mechanical contact with each other.
- FIG. 6 shows a further exemplary embodiment. Here it is
- Fastener 24 made in one piece and at least partially positively connected to the carrier 10.
- the fastener 24 forms a kind of clip that can snap on the carrier (snap-in connection).
- the fastening element 24 in FIG. 6 can be pre-bent or shaped in a suitable manner so that it is prestressed when the light source 20 is mounted and exerts a force on the transmitting unit 20 and presses it against the carrier 10.
- Figure 7 shows a fastener 24 which is cohesively with the carrier 10 in connection.
- the cohesive connection can be produced for example by means of gluing, welding or soldering.
- the carrier 10 may be integrally formed with the fastener 24 (eg, by injection molding). The fastener 24 may be biased so that when mounted
- Sending unit 20 exerts a force on the transmitting unit 20 and presses it against the carrier 10.
- Fig. 8 shows a further embodiment.
- the sensor 30 with the receiving optics 23 form an assembly (camera module).
- the sensor 30 is independent of the assembly
- Receiving optics 23 is attached to the carrier 10. The attachment of the sensor 30
- the attachment line X with the "attachment points" defined by the support surfaces is, for example, but not necessarily symmetrical to a light channel 43, which extends through the support 10 and can reach the sensor 30 by the light from the receiving optics (not shown in FIG. 8) ,
- the support portions 41, 42 may protrude from the surface of the carrier 10 (e.g., in the form of pins, sleeves, etc.), resulting in assembly of the carrier
- Sensor 30 parallel to the surface of the carrier allows.
- the sensor is located only on the at least two support areas 41, 42, which are arranged along the attachment line X, wherein the attachment line X is normal to that plane which is formed by the optical axes of light source 20 and receiving optics 23.
- the sensor 30 and the carrier 10 can consequently thermally expand independently of one another without significant mechanical stresses and associated strains occurring in the sensor 30, at least not in the direction which is relevant for the distance measurement. That is, a thermal expansion of the sensor 30 relative to the carrier 10 is in a direction perpendicular to Fixing line X and normal to the optical axis of the receiving optics not hindered.
- a shielding structure 40 may be arranged on a side surface of the carrier 10 which faces the sensor 30, which at least partially surrounds the light channel 43 and likewise protrudes from the surface of the carrier.
- this shielding structure 40 may be annular, but it is also possible to make the shielding structure 40 rectangular, for example.
- the shielding structure 40 may be as high or lower (based on the
- the bearing areas 41, 42 may have a predefined normal distance to the underlying side surface of the carrier 10.
- the distance of the sensor 30 to the carrier 10 and the focal length of the receiving optics 23 are matched.
- the position of the attachment line X ie, its distance from the optical axis of the light source 20
- This area (large distances) requires the highest accuracy.
- the position at which the reflected radiation 92, 93, 94 enters the receiving optics converges to a limit value.
- “Large distances” designate distances at the remote end of the distance measuring range, for example in the range from 5 to 10 m
- the attachment line X can then be at the level where rays impinge on the sensor which are reflected by distant objects 96 of the receiving optics 23 extends approximately parallel to the optical axis 97 of the light source 20, the attachment line X is at the level of the optical axis 96 of the receiving optics 23rd
- Figure 9 shows an exploded view of the carrier 10 of FIG. 8, including bearing surfaces 41, 42 and the shielding structure 40 and the sensor 30, which is attached along a line X to the fastening elements 41, 42.
- the senor 30 is arranged on a circuit board. On this circuit board can also be an evaluation, and other electronic
- the circuit board is designed so that it consists of two or more parts that are connected together so that no significant forces can be transferred from one part to another.
- the connection between the two parts is elastic or resilient.
- the resilient connections between the circuit board parts may be designed to contain electrical connections. Smaller, relative displacements between the individual circuit board parts can thus be done without great mechanical stresses. A complex connection of two separate boards in the production by means of cables can thus be avoided.
- FIG. 10 shows an example of a sensor 30 with a board 37, in which two recesses 38 and 38 'are formed, wherein the recesses 38, 38' are formed so that in between a sensor board 34 for the photosensitive sensor chip 31 remains, which is connected to the surrounding board only by one or more thin, resilient webs.
- the recess can be produced for example by milling, punching or cutting.
- the sensor board 34 is connected by the two webs 35 and 36 with the surrounding circuit board 37.
- the attachment line X (see FIGS. 2 and 8) is again shown, along which the sensor board 34 is connected at points 41 'and 42' to the support regions 41 and 42 (see FIG.
- the circuit board 37 surrounding the sensor board 34 can contain further electronic components 33 and be fastened to the carrier 10 at a plurality of locations 32.
- the thin, resilient webs 35 and 36 cause a mechanical decoupling (no or only a very small Power transmission in a direction transverse to the attachment line) of the sensor board 34 from the surrounding board 37).
- the senor 30 may also have a plurality of (along the attachment line X) adjacent sensor chips 31.
- the individual sensor chips 31 can be made smaller than the entire image areas of the receiving optics 23.
- the sensor chips 31 can be arranged in predefined (for example horizontally adjacent) parts of the image area of the receiving optics 23. Even with large (lying in a horizontal plane) radiation angles of the light source 20, for example, 120 °, thereby the detection of the reflected light 92, 93, 94 can be ensured using small, commercially available sensor chips, which are much cheaper than a large sensor chip it would.
- a calibration may be necessary. This calibration can be carried out, for example, at average operating temperatures of the device. Alternatively, it can be carried out for different operating temperatures.
- temperature-dependent calibration data can optionally be stored in a memory unit of the sensor 30.
- FIG 11 shows a work machine 80 (e.g., a cleaning robot) having an optical triangulation sensor which may be constructed as described above with reference to Figures 1-10.
- the triangulation sensor for distance measurement is attached to the work machine 80 in a suitable manner and can from the
- Work machine 80 are used for distance measurement.
- Work machine 80 may be arranged. Furthermore, the device for
- the device for measuring distance inside the Working machine 80 may be arranged in an installation chamber.
- the device for distance measurement is thus protected from dust and other external influences.
- the device may be located behind one or more windows. These windows are at least partially transparent to the emitted radiation 91 and the reflected radiation 92, 93, 94. The windows can simultaneously serve as filters. Radiation with a wavelength that depends on the wavelength of the
- the installation chamber can be coated for reflection or painted dark or be formed of a material with a small reflection coefficient.
- the windows of the installation chamber may consist of a material which reflects the light emitted by the light source 91 91 as little as possible, and be provided for example with an anti-reflection coating.
- the reflectance of parts of the installation chamber may be less than 10%, for example.
- an aperture 15 may be arranged either on the carrier 10 or on the work machine 80 in such a way that unwanted scattered light emitted by the light source 20 (see light beam 91 'running upwards) is shielded.
- the light source 20 emits light substantially in a (eg horizontal) plane E.
- the diaphragm 15 can be designed and arranged in such a way that stray light which is scattered towards a point P that lies above the plane E is shielded In this way, no unwanted, caused by the scattered light reflections on highly reflective objects in the
- the aperture 15 may e.g. be a slit. Since scattered down light scattered usually does not bother, also satisfies a "half
- Slit diaphragm " i.e. a reed having a horizontally extending edge, whereby a (e.g., horizontally radiated main beam 91 is not obstructed but the upwardly radiated stray light is shielded
- Embodiments of the triangulation sensor described here can be used. ⁇
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015109775.3A DE102015109775B3 (en) | 2015-06-18 | 2015-06-18 | Optical triangulation sensor for distance measurement |
PCT/AT2016/050179 WO2016201465A2 (en) | 2015-06-18 | 2016-06-06 | Optical triangulation sensor for distance measurement |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3311197A2 true EP3311197A2 (en) | 2018-04-25 |
Family
ID=56497504
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16741218.8A Pending EP3311197A2 (en) | 2015-06-18 | 2016-06-06 | Optical triangulation sensor for distance measurement |
Country Status (5)
Country | Link |
---|---|
US (1) | US11550054B2 (en) |
EP (1) | EP3311197A2 (en) |
CN (1) | CN107750341A (en) |
DE (1) | DE102015109775B3 (en) |
WO (1) | WO2016201465A2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102070283B1 (en) * | 2018-05-16 | 2020-01-28 | 엘지전자 주식회사 | Cleaner and controlling method thereof |
CN111121651A (en) | 2018-10-31 | 2020-05-08 | 财团法人工业技术研究院 | Optical measurement stability control system |
US11448731B2 (en) | 2019-08-30 | 2022-09-20 | Banner Engineering Corp. | Triangulation sensor with a first metal lens barrel disposed in a first barrel mounting channel |
Family Cites Families (273)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0142594B1 (en) | 1983-10-26 | 1989-06-28 | Automax Kabushiki Kaisha | Control system for mobile robot |
JPS61251809A (en) * | 1985-05-01 | 1986-11-08 | Hitachi Ltd | Automatic focus adjusting device |
US4777416A (en) | 1986-05-16 | 1988-10-11 | Denning Mobile Robotics, Inc. | Recharge docking system for mobile robot |
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 |
JPH0313611A (en) | 1989-06-07 | 1991-01-22 | Toshiba Corp | Automatic cleaner |
US5109566A (en) | 1990-06-28 | 1992-05-05 | Matsushita Electric Industrial Co., Ltd. | Self-running cleaning apparatus |
US5260710A (en) * | 1991-01-31 | 1993-11-09 | Stanley Electric Co., Ltd. | Vehicular optical-radar apparatus |
JP3198532B2 (en) | 1991-05-14 | 2001-08-13 | 松下電器産業株式会社 | Self-propelled vacuum cleaner |
JPH0680203A (en) | 1992-03-24 | 1994-03-22 | East Japan Railway Co | Control method for floor surface cleaning robot |
CA2115859C (en) * | 1994-02-23 | 1995-12-26 | Brian Dewan | Method and apparatus for optimizing sub-pixel resolution in a triangulation based distance measuring device |
DE4421805C1 (en) | 1994-06-22 | 1995-08-17 | Siemens Ag | Orientation motion and control of autonomous mobile robot |
JP3346513B2 (en) | 1994-07-01 | 2002-11-18 | ミノルタ株式会社 | Map storage method and route creation method using the map |
BE1008470A3 (en) | 1994-07-04 | 1996-05-07 | Colens Andre | Device and automatic system and equipment dedusting sol y adapted. |
US5995884A (en) | 1997-03-07 | 1999-11-30 | Allen; Timothy P. | Computer peripheral floor cleaning system and navigation method |
FR2763726B1 (en) | 1997-05-20 | 2003-01-17 | Bouchaib Hoummadi | METHOD FOR MANAGING ROAD TRAFFIC BY VIDEO CAMERA |
AU1327899A (en) | 1997-11-27 | 1999-06-16 | Solar & Robotics | Improvements to mobile robots and their control system |
US6532404B2 (en) | 1997-11-27 | 2003-03-11 | Colens Andre | Mobile robots and their control system |
CN1292878A (en) | 1998-03-10 | 2001-04-25 | 西门子公司 | Optical sensor system for detecting position of object |
IL124413A (en) | 1998-05-11 | 2001-05-20 | Friendly Robotics Ltd | System and method for area coverage with an autonomous robot |
ES2207955T3 (en) | 1998-07-20 | 2004-06-01 | THE PROCTER & GAMBLE COMPANY | ROBOTIC SYSTEM. |
ES2222906T3 (en) | 1999-06-17 | 2005-02-16 | SOLAR & ROBOTICS S.A. | AUTOMATIC OBJECT COLLECTION DEVICE. |
GB9917232D0 (en) | 1999-07-23 | 1999-09-22 | Notetry Ltd | Method of operating a floor cleaning device |
JP4207336B2 (en) | 1999-10-29 | 2009-01-14 | ソニー株式会社 | Charging system for mobile robot, method for searching for charging station, mobile robot, connector, and electrical connection structure |
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 |
JP2002085305A (en) | 2000-09-12 | 2002-03-26 | Toshiba Tec Corp | Robot cleaner and robot cleaner system |
KR20020076297A (en) | 2000-12-11 | 2002-10-09 | 미쓰비시덴키 가부시키가이샤 | Optical distance sensor |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
JP3594016B2 (en) | 2001-01-30 | 2004-11-24 | 日本電気株式会社 | Robot program execution method, robot system and program processing device |
RU2220643C2 (en) | 2001-04-18 | 2004-01-10 | Самсунг Гванджу Электроникс Ко., Лтд. | Automatic cleaning apparatus, automatic cleaning system and method for controlling of system (versions) |
EP1408729B1 (en) | 2001-05-28 | 2016-10-26 | Husqvarna AB | Improvement to a robotic lawnmower |
US7663333B2 (en) | 2001-06-12 | 2010-02-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
ES2520391T3 (en) | 2001-06-12 | 2014-11-11 | Irobot Corporation | Multimode coverage for an autonomous robot |
US6667592B2 (en) | 2001-08-13 | 2003-12-23 | Intellibot, L.L.C. | Mapped robot system |
KR100427356B1 (en) * | 2001-08-14 | 2004-04-13 | 삼성전기주식회사 | Sub chip on board for optical mouse |
AU2002341358A1 (en) | 2001-09-26 | 2003-04-07 | Friendly Robotics Ltd. | Robotic vacuum cleaner |
DE10204223B4 (en) * | 2002-01-31 | 2004-05-06 | Infineon Technologies Ag | Housing for a coupling arrangement for coupling in and / or coupling out optical signals |
JP2004133882A (en) | 2002-05-10 | 2004-04-30 | Royal Appliance Mfg Co | Autonomous multi-platform robot system |
JP2003330543A (en) | 2002-05-17 | 2003-11-21 | Toshiba Tec Corp | Charging type autonomous moving system |
JP4085697B2 (en) * | 2002-05-29 | 2008-05-14 | 住友電気工業株式会社 | Optical link module |
CN1647124A (en) | 2002-10-04 | 2005-07-27 | 富士通株式会社 | Robot system and self movable robot |
US7145478B2 (en) | 2002-12-17 | 2006-12-05 | Evolution Robotics, Inc. | Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system |
DE10261787B3 (en) | 2002-12-23 | 2004-01-22 | Alfred Kärcher Gmbh & Co. Kg | Mobile tillage device |
KR100561855B1 (en) | 2002-12-30 | 2006-03-16 | 삼성전자주식회사 | Robot localization system |
US7805220B2 (en) | 2003-03-14 | 2010-09-28 | Sharper Image Acquisition Llc | Robot vacuum with internal mapping system |
US20050010331A1 (en) | 2003-03-14 | 2005-01-13 | Taylor Charles E. | Robot vacuum with floor type modes |
JP4016275B2 (en) * | 2003-06-25 | 2007-12-05 | 富士電機デバイステクノロジー株式会社 | Ranging device |
US7756322B2 (en) | 2003-08-18 | 2010-07-13 | Honda Motor Co., Ltd. | Picture taking mobile robot |
US20070061041A1 (en) | 2003-09-02 | 2007-03-15 | Zweig Stephen E | Mobile robot with wireless location sensing apparatus |
EP1533629A3 (en) | 2003-11-21 | 2006-05-24 | Siemens Aktiengesellschaft | Distance measurement with a mobile terminal |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
DE102004004505B9 (en) | 2004-01-22 | 2010-08-05 | Alfred Kärcher Gmbh & Co. Kg | Soil cultivation device and method for its control |
JP4264009B2 (en) | 2004-01-23 | 2009-05-13 | シャープ株式会社 | Self-propelled vacuum cleaner |
KR101425335B1 (en) | 2004-01-28 | 2014-08-01 | 아이로보트 코퍼레이션 | Debris sensor for cleaning apparatus |
JP3841220B2 (en) | 2004-01-30 | 2006-11-01 | 船井電機株式会社 | Autonomous traveling robot cleaner |
JP2005211359A (en) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Autonomous traveling robot cleaner system |
WO2005074362A2 (en) | 2004-02-03 | 2005-08-18 | F. Robotics Aquisitions Ltd. | Robot docking station |
KR100506097B1 (en) | 2004-02-04 | 2005-08-03 | 삼성전자주식회사 | Method and apparatus for making magnetic field map and method and apparatus for checking pose of the moving body using the map |
US20060020369A1 (en) | 2004-03-11 | 2006-01-26 | Taylor Charles E | Robot vacuum cleaner |
JP2005270413A (en) | 2004-03-25 | 2005-10-06 | Funai Electric Co Ltd | Self-propelled vacuum cleaner |
US7720554B2 (en) | 2004-03-29 | 2010-05-18 | Evolution Robotics, Inc. | Methods and apparatus for position estimation using reflected light sources |
JP4436186B2 (en) | 2004-05-12 | 2010-03-24 | アルパイン株式会社 | Navigation device and map display method |
JP4377744B2 (en) | 2004-05-13 | 2009-12-02 | 本田技研工業株式会社 | Robot controller |
CN100338250C (en) | 2004-05-19 | 2007-09-19 | 中国科学院金属研究所 | High strength and high toughness cast magnesium alloy and preparing process thereof |
SG174000A1 (en) | 2004-06-24 | 2011-09-29 | Irobot Corp | Remote control scheduler and method for autonomous robotic device |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
KR100641113B1 (en) | 2004-07-30 | 2006-11-02 | 엘지전자 주식회사 | Mobile robot and his moving control method |
KR100645379B1 (en) | 2004-10-29 | 2006-11-15 | 삼성광주전자 주식회사 | A robot controlling system and a robot control method |
US7389156B2 (en) | 2005-02-18 | 2008-06-17 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
KR101240732B1 (en) | 2005-02-18 | 2013-03-07 | 아이로보트 코퍼레이션 | Autonomous surface cleaning robot for wet and dry cleaning |
KR100638220B1 (en) | 2005-04-23 | 2006-10-27 | 엘지전자 주식회사 | Position sensing device of mobile robot and robot cleaner equipped with it |
JP4455417B2 (en) | 2005-06-13 | 2010-04-21 | 株式会社東芝 | Mobile robot, program, and robot control method |
DE102005041980B4 (en) | 2005-09-05 | 2015-01-15 | Robert Bosch Gmbh | Electro-optical measuring device |
EP2281667B1 (en) | 2005-09-30 | 2013-04-17 | iRobot Corporation | Companion robot for personal interaction |
US9002511B1 (en) | 2005-10-21 | 2015-04-07 | Irobot Corporation | Methods and systems for obstacle detection using structured light |
ES2378138T3 (en) | 2005-12-02 | 2012-04-09 | Irobot Corporation | Robot covering mobility |
ES2718831T3 (en) | 2005-12-02 | 2019-07-04 | Irobot Corp | Robot system |
WO2008013568A2 (en) | 2005-12-30 | 2008-01-31 | Irobot Corporation | Autonomous mobile robot |
JP2007201213A (en) * | 2006-01-27 | 2007-08-09 | Opnext Japan Inc | Optical receiving module |
DE102006007764A1 (en) | 2006-02-20 | 2007-08-23 | Sick Ag | Optoelectronic device and method for its operation |
KR100988736B1 (en) | 2006-03-15 | 2010-10-20 | 삼성전자주식회사 | Home network system and method for moving the shortest path of autonomous mobile robot |
US7483151B2 (en) | 2006-03-17 | 2009-01-27 | Alpineon D.O.O. | Active 3D triangulation-based imaging method and device |
EP2027806A1 (en) | 2006-04-04 | 2009-02-25 | Samsung Electronics Co., Ltd. | Robot cleaner system having robot cleaner and docking station |
KR100735565B1 (en) | 2006-05-17 | 2007-07-04 | 삼성전자주식회사 | Method for detecting an object using structured light and robot using the same |
KR100791382B1 (en) | 2006-06-01 | 2008-01-07 | 삼성전자주식회사 | Method for classifying and collecting of area features as robot's moving path and robot controlled as the area features, apparatus and method for composing user interface using area features |
KR100791384B1 (en) | 2006-07-05 | 2008-01-07 | 삼성전자주식회사 | Method for dividing regions by feature points and apparatus thereof and mobile cleaning robot |
US8355818B2 (en) | 2009-09-03 | 2013-01-15 | Battelle Energy Alliance, Llc | Robots, systems, and methods for hazard evaluation and visualization |
KR100791386B1 (en) | 2006-08-18 | 2008-01-07 | 삼성전자주식회사 | Method and system of cell decomposition in mobile robot |
US8996172B2 (en) | 2006-09-01 | 2015-03-31 | Neato Robotics, Inc. | Distance sensor system and method |
KR100815545B1 (en) | 2006-12-06 | 2008-03-20 | 삼성광주전자 주식회사 | The method of charging service robot |
KR100791389B1 (en) | 2006-12-26 | 2008-01-07 | 삼성전자주식회사 | Apparatus and method for measuring distance using structured light |
DE102007003024A1 (en) | 2007-01-20 | 2008-07-31 | Sick Ag | Triangulation sensor with distance determination from light spot position and shape |
DE102007016913A1 (en) | 2007-04-05 | 2008-10-09 | Inmach Intelligente Maschinen Gmbh | Method for running a work surface |
DE102007016802B3 (en) | 2007-04-05 | 2008-05-15 | Miele & Cie. Kg | Self-propelled tilling device e.g. robot, navigating method, involves determining driving direction by evaluating determined vectors and by controlling distance to preceding tracks, and forming meander/spiral shaped preset track |
WO2008141186A2 (en) * | 2007-05-09 | 2008-11-20 | Irobot Corporation | Autonomous coverage robot |
US20090048727A1 (en) | 2007-08-17 | 2009-02-19 | Samsung Electronics Co., Ltd. | Robot cleaner and control method and medium of the same |
KR20090019338A (en) | 2007-08-20 | 2009-02-25 | 삼성전자주식회사 | Optical sensor |
KR101330734B1 (en) | 2007-08-24 | 2013-11-20 | 삼성전자주식회사 | Robot cleaner system having robot cleaner and docking station |
DE202007014849U1 (en) | 2007-10-24 | 2008-01-17 | Pepperl + Fuchs Gmbh | Optoelectronic sensor for detecting objects in a surveillance area |
KR101415879B1 (en) | 2008-01-04 | 2014-07-07 | 삼성전자 주식회사 | Method and apparatus for docking moving robot |
KR20090077547A (en) | 2008-01-11 | 2009-07-15 | 삼성전자주식회사 | Method and apparatus of path planning for a mobile robot |
DE102008014912B4 (en) | 2008-03-19 | 2023-01-19 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collector |
JP4909930B2 (en) | 2008-03-28 | 2012-04-04 | 日立アプライアンス株式会社 | Self-propelled cleaning system |
US8194233B2 (en) * | 2008-04-11 | 2012-06-05 | Microsoft Corporation | Method and system to reduce stray light reflection error in time-of-flight sensor arrays |
BRPI0910450A2 (en) | 2008-04-24 | 2016-07-19 | Evolution Robotics Inc | robotic cleaner |
DE102008028931A1 (en) | 2008-06-18 | 2009-12-24 | BSH Bosch und Siemens Hausgeräte GmbH | Robot i.e. dust collecting robot, drive movement controlling method, involves stopping drive movement of robot during determination of coordinate values based on comparison of coordinate values of virtual partial region and/or virtual wall |
CN101387514B (en) * | 2008-08-28 | 2010-07-28 | 上海科勒电子科技有限公司 | Distance detecting induction device |
CN101387512B (en) * | 2008-08-28 | 2010-06-09 | 上海科勒电子科技有限公司 | Distance detecting induction device |
KR101021072B1 (en) * | 2008-08-29 | 2011-03-11 | 크루셜텍 (주) | Optical Joy Stick and Portable Electronic Device Having the Same |
JP5029572B2 (en) * | 2008-11-07 | 2012-09-19 | 住友電気工業株式会社 | Light guide plate, wiring module and electronic device |
KR101553654B1 (en) | 2009-02-13 | 2015-10-01 | 삼성전자 주식회사 | Mobile robot and method for moving of mobile robot |
DE102009001734A1 (en) | 2009-03-23 | 2011-02-24 | Robert Bosch Gmbh | optics carrier |
JP5506225B2 (en) | 2009-03-30 | 2014-05-28 | セーレン株式会社 | How to recycle advertising sheets |
EP2261762A3 (en) | 2009-06-12 | 2014-11-26 | Samsung Electronics Co., Ltd. | Robot cleaner and control method thereof |
US8428776B2 (en) | 2009-06-18 | 2013-04-23 | 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 |
KR101672787B1 (en) | 2009-06-19 | 2016-11-17 | 삼성전자주식회사 | Robot cleaner and docking station and robot cleaner system having the same and control method thereof |
DE102009059217A1 (en) | 2009-08-12 | 2011-02-17 | Vorwerk & Co. Interholding Gmbh | Method for orientation of a self-moving device |
DE102009041362A1 (en) | 2009-09-11 | 2011-03-24 | Vorwerk & Co. Interholding Gmbh | Method for operating a cleaning robot |
RU2012122469A (en) | 2009-11-06 | 2013-12-20 | Эволюшн Роботикс, Инк. | METHODS AND SYSTEMS FOR COMPLETE SURFACE CREATION WITH AN AUTONOMOUS ROBOT |
DE102009052629A1 (en) | 2009-11-10 | 2011-05-12 | Vorwerk & Co. Interholding Gmbh | Method for controlling a robot |
KR101626984B1 (en) | 2009-11-16 | 2016-06-02 | 엘지전자 주식회사 | Robot cleaner and controlling method of the same |
JP2011128899A (en) | 2009-12-17 | 2011-06-30 | Murata Machinery Ltd | Autonomous mobile device |
US8892251B1 (en) | 2010-01-06 | 2014-11-18 | Irobot Corporation | System and method for autonomous mopping of a floor surface |
DE102010000174B4 (en) | 2010-01-22 | 2022-09-01 | Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung | Method for cleaning a room using an automatically movable cleaning device |
DE102010000317A1 (en) | 2010-02-05 | 2011-08-11 | Vorwerk & Co. Interholding GmbH, 42275 | Method for cleaning room by using automatically movable cleaning device, involves registering rectangle to be projected in room with longest possible dimensions by using algorithm |
KR101686170B1 (en) | 2010-02-05 | 2016-12-13 | 삼성전자주식회사 | Apparatus for planning traveling path and method thereof |
KR101649645B1 (en) | 2010-02-08 | 2016-08-22 | 엘지전자 주식회사 | Robot cleaner and controlling method thereof |
JP2011181997A (en) | 2010-02-26 | 2011-09-15 | Brother Industries Ltd | Communication device and program |
DE102010000607B4 (en) | 2010-03-02 | 2022-06-15 | Vorwerk & Co. Interholding Gmbh | Household vacuum cleaner that can be used as a base station for an automatically movable suction and/or sweeping device |
KR20110119118A (en) | 2010-04-26 | 2011-11-02 | 엘지전자 주식회사 | Robot cleaner, and remote monitoring system using the same |
KR101487778B1 (en) | 2010-05-11 | 2015-01-29 | 삼성전자 주식회사 | Sensing system and moving robot having the same |
US8442682B2 (en) | 2010-05-28 | 2013-05-14 | Toyota Motor Engineering & Manufacturing North America, Inc. | Autonomous robot charging stations and methods |
DE102010017211A1 (en) | 2010-06-02 | 2011-12-08 | Vorwerk & Co. Interholding Gmbh | Method for cleaning floor e.g. hard floor in household area, involves holding cleaning tool and/or cleaning agent or cleaning fluid in base station via floor cleaning device for cleaning different regions of floor, after recognizing stain |
DE102010017689A1 (en) | 2010-07-01 | 2012-01-05 | Vorwerk & Co. Interholding Gmbh | Automatically movable device and method for orientation of such a device |
JP5560978B2 (en) | 2010-07-13 | 2014-07-30 | 村田機械株式会社 | Autonomous mobile |
KR101483541B1 (en) | 2010-07-15 | 2015-01-19 | 삼성전자주식회사 | Autonomous cleaning device, maintenance station and cleaning system having them |
DE102010033768A1 (en) | 2010-08-09 | 2012-02-09 | Dürr Systems GmbH | Control system and control method for a robot |
DE102011050357A1 (en) | 2010-08-12 | 2012-02-16 | Vorwerk & Co. Interholding Gmbh | Method for controlling i.e. guiding, movable household floor cleaning device e.g. sucking robot, involves recording and processing light signal such that transmission of light signal to cleaning area is controlled |
CN101945325B (en) | 2010-08-13 | 2016-04-27 | 厦门雅迅网络股份有限公司 | A kind of friend's cognitive method based on architecture |
CN102407522B (en) | 2010-09-19 | 2014-03-26 | 泰怡凯电器(苏州)有限公司 | Intelligent robot system and charging butting method thereof |
KR20120043865A (en) | 2010-10-27 | 2012-05-07 | 주식회사 케이티 | System, method and apparatus for providing robot interaction services using location information of mobile communication terminal |
KR101750340B1 (en) | 2010-11-03 | 2017-06-26 | 엘지전자 주식회사 | Robot cleaner and controlling method of the same |
KR101752190B1 (en) | 2010-11-24 | 2017-06-30 | 삼성전자주식회사 | Robot cleaner and method for controlling the same |
CN103443612B (en) | 2010-12-30 | 2016-04-20 | 美国iRobot公司 | Chip monitors |
WO2012099694A1 (en) | 2010-12-30 | 2012-07-26 | Irobot Corporation | Coverage robot navigation |
WO2012106075A1 (en) | 2011-02-05 | 2012-08-09 | Wifislam, Inc. | Method and apparatus for mobile location determination |
US20120215380A1 (en) | 2011-02-23 | 2012-08-23 | Microsoft Corporation | Semi-autonomous robot that supports multiple modes of navigation |
US8779391B2 (en) | 2011-03-03 | 2014-07-15 | Teckni-Corp | Sterilization system with ultraviolet emitter for eradicating biological contaminants |
DE102011006062B4 (en) | 2011-03-24 | 2023-05-25 | RobArt GmbH | Procedure for autonomous inspection of an environment or processing of ground surfaces |
KR101842460B1 (en) | 2011-04-12 | 2018-03-27 | 엘지전자 주식회사 | Robot cleaner, and remote monitoring system and method of the same |
KR101850386B1 (en) | 2011-04-19 | 2018-04-19 | 엘지전자 주식회사 | Robot cleaner and controlling method of the same |
CN106889947B (en) | 2011-04-29 | 2020-03-10 | 艾罗伯特公司 | Autonomous mobile robot for cleaning a cleaning surface |
KR101760950B1 (en) | 2011-05-17 | 2017-07-24 | 엘지전자 주식회사 | Controlling mehtod of network system |
DE102011076491A1 (en) * | 2011-05-26 | 2012-11-29 | Esw Gmbh | Measuring device for distance measurement |
JP5399525B2 (en) * | 2011-06-29 | 2014-01-29 | シャープ株式会社 | Optical distance measuring device and electronic device |
DE102011051729A1 (en) | 2011-07-11 | 2013-01-17 | Alfred Kärcher Gmbh & Co. Kg | Self-propelled floor cleaning device |
TW201305761A (en) | 2011-07-21 | 2013-02-01 | Ememe Robot Co Ltd | An autonomous robot and a positioning method thereof |
US8761933B2 (en) | 2011-08-02 | 2014-06-24 | Microsoft Corporation | Finding a called party |
KR101366860B1 (en) | 2011-09-20 | 2014-02-21 | 엘지전자 주식회사 | Mobile robot and controlling method of the same |
JP5348215B2 (en) | 2011-09-29 | 2013-11-20 | カシオ計算機株式会社 | Information acquisition apparatus, information acquisition method, information acquisition program, and information acquisition system |
US8798840B2 (en) | 2011-09-30 | 2014-08-05 | Irobot Corporation | Adaptive mapping with spatial summaries of sensor data |
WO2013085085A1 (en) | 2011-12-08 | 2013-06-13 | Lg Electronics Inc. | Automatic moving apparatus and manual operation method thereof |
JP2013146302A (en) | 2012-01-17 | 2013-08-01 | Sharp Corp | Self-propelled electronic device |
US8982217B1 (en) | 2012-01-31 | 2015-03-17 | Google Inc. | Determining states and modifying environments according to states |
DE102012201870A1 (en) | 2012-02-08 | 2013-08-08 | RobArt GmbH | Method for automatically triggering a self-localization |
KR101984214B1 (en) | 2012-02-09 | 2019-05-30 | 삼성전자주식회사 | Apparatus and method for controlling cleaning in rototic cleaner |
US9146560B2 (en) | 2012-03-30 | 2015-09-29 | Irobot Corporation | System and method for implementing force field deterrent for robot |
CN102738862B (en) | 2012-06-13 | 2014-12-03 | 杭州瓦瑞科技有限公司 | Automatic charging system for movable robot |
DE102012105608A1 (en) | 2012-06-27 | 2014-01-02 | Miele & Cie. Kg | Self-propelled cleaning device and method for operating a self-propelled cleaning device |
DE102012211071B3 (en) | 2012-06-27 | 2013-11-21 | RobArt GmbH | Interaction between a mobile robot and an alarm system |
WO2014017256A1 (en) * | 2012-07-24 | 2014-01-30 | シャープ株式会社 | Optical distance measuring apparatus and electronic apparatus |
US8840323B2 (en) * | 2012-08-27 | 2014-09-23 | Avago Technologies General Ip (Singapore) Pte. Ltd. | Thermally compensated parallel optical communication module |
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 |
CN202815219U (en) * | 2012-09-24 | 2013-03-20 | 中国医学科学院生物医学工程研究所 | Irradiation distance measuring instrument |
DE102012109004A1 (en) | 2012-09-24 | 2014-03-27 | RobArt GmbH | Robots and methods for autonomous inspection or processing of floor surfaces |
TWI459170B (en) | 2012-10-04 | 2014-11-01 | Ind Tech Res Inst | A moving control device and an automatic guided vehicle with the same |
EP2903787B1 (en) | 2012-10-05 | 2019-05-15 | iRobot Corporation | Robot management systems for determining docking station pose including mobile robots and methods using same |
JP6142501B2 (en) * | 2012-10-30 | 2017-06-07 | オムロン株式会社 | Optical sensor |
US8972061B2 (en) | 2012-11-02 | 2015-03-03 | Irobot Corporation | Autonomous coverage robot |
US20140128093A1 (en) | 2012-11-06 | 2014-05-08 | Qualcomm Incorporated | Portal transition parameters for use in mobile device positioning |
TWI481980B (en) | 2012-12-05 | 2015-04-21 | Univ Nat Chiao Tung | Electronic apparatus and navigation method thereof |
KR101428877B1 (en) | 2012-12-05 | 2014-08-14 | 엘지전자 주식회사 | A robot cleaner |
KR20140073854A (en) | 2012-12-07 | 2014-06-17 | 주식회사 유진로봇 | Obstacle detect system using psd scanner in vaccum robot |
DE102012112035A1 (en) | 2012-12-10 | 2014-06-12 | Miele & Cie. Kg | Robot vacuum cleaner operating method, involves transferring processing date to vacuum cleaner in operation of robot vacuum cleaner as result of processing control information returns to cleaner for activation of cleaner by individual |
DE102012112036B4 (en) | 2012-12-10 | 2023-06-07 | Miele & Cie. Kg | Self-propelled tillage implement and method for navigating a self-propelled tillage implement |
KR102058918B1 (en) | 2012-12-14 | 2019-12-26 | 삼성전자주식회사 | Home monitoring method and apparatus |
US9903130B2 (en) | 2012-12-22 | 2018-02-27 | Maytronics Ltd. | Autonomous pool cleaning robot with an external docking station |
DE102013100192A1 (en) | 2013-01-10 | 2014-07-10 | Miele & Cie. Kg | Self-propelled robot and method for distance determination in a self-propelled robot |
CN104769962B (en) | 2013-01-18 | 2019-03-12 | 艾罗伯特公司 | Including the environmental management system of mobile robot and its application method |
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 |
GB2509991B (en) | 2013-01-22 | 2015-03-11 | Dyson Technology Ltd | Docking station for a mobile robot |
GB2509990B (en) | 2013-01-22 | 2014-12-10 | Dyson Technology Ltd | Docking station for a mobile robot |
GB2509989B (en) | 2013-01-22 | 2015-03-04 | Dyson Technology Ltd | Docking station for a mobile robot |
KR101490170B1 (en) | 2013-03-05 | 2015-02-05 | 엘지전자 주식회사 | Robot cleaner |
KR101450537B1 (en) | 2013-03-05 | 2014-10-14 | 엘지전자 주식회사 | Robot cleaner |
KR101450569B1 (en) | 2013-03-05 | 2014-10-14 | 엘지전자 주식회사 | Robot cleaner |
WO2014138472A2 (en) | 2013-03-06 | 2014-09-12 | Robotex Inc. | System and method for collecting and processing data and for utilizing robotic and/or human resources |
JP6088858B2 (en) | 2013-03-12 | 2017-03-01 | シャープ株式会社 | Self-propelled equipment |
JP2014197294A (en) | 2013-03-29 | 2014-10-16 | 株式会社日立産機システム | Position identification device and mobile robot having the same |
KR102071575B1 (en) | 2013-04-23 | 2020-01-30 | 삼성전자 주식회사 | Moving robot, user terminal apparatus, and control method thereof |
CN104117987B (en) | 2013-04-26 | 2017-05-10 | 恩斯迈电子(深圳)有限公司 | Mobile robot |
DE102013104399A1 (en) | 2013-04-30 | 2014-10-30 | Vorwerk & Co. Interholding Gmbh | Base station for a self-moving device |
DE102013104547A1 (en) * | 2013-05-03 | 2014-11-06 | Miele & Cie. Kg | Self-propelled tillage implement and optical system for a self-propelled tillage implement |
GB2513912B (en) | 2013-05-10 | 2018-01-24 | Dyson Technology Ltd | Apparatus for guiding an autonomous vehicle towards a docking station |
CN104161487B (en) | 2013-05-17 | 2018-09-04 | 恩斯迈电子(深圳)有限公司 | Mobile device |
KR20140145648A (en) | 2013-06-13 | 2014-12-24 | 삼성전자주식회사 | Cleaning robot and method for controlling the same |
KR101534005B1 (en) | 2013-07-16 | 2015-07-06 | 주식회사 유진로봇 | System for cleaning user defined area using cleaning robot and method thereof |
JP6406680B2 (en) | 2013-08-06 | 2018-10-17 | アルフレッド ケルヒャー エスエー ウント コンパニー カーゲー | Method for operating a floor cleaning device and floor cleaning device |
JP5897517B2 (en) | 2013-08-21 | 2016-03-30 | シャープ株式会社 | Autonomous mobile |
CN104460663A (en) | 2013-09-23 | 2015-03-25 | 科沃斯机器人科技(苏州)有限公司 | Method for controlling cleaning robot through smart phone |
US20150115138A1 (en) * | 2013-10-25 | 2015-04-30 | Avago Technologies General Ip (Singapore) Pte. Ltd. | Sensing Device With A Shield |
KR102152641B1 (en) | 2013-10-31 | 2020-09-08 | 엘지전자 주식회사 | Mobile robot |
KR102095817B1 (en) | 2013-10-31 | 2020-04-01 | 엘지전자 주식회사 | Mobile robot, charging apparatus for the mobile robot, and mobile robot system |
EP2870852A1 (en) | 2013-11-11 | 2015-05-13 | Honda Research Institute Europe GmbH | Lawn mower with network communication |
US9573275B2 (en) | 2013-11-12 | 2017-02-21 | Husqvarna Ab | Navigation for a robotic working tool |
WO2015082017A1 (en) | 2013-12-06 | 2015-06-11 | Alfred Kärcher Gmbh & Co. Kg | Cleaning system |
US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
EP3084540B1 (en) | 2013-12-19 | 2021-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and operating method |
KR102118049B1 (en) | 2013-12-19 | 2020-06-09 | 엘지전자 주식회사 | robot cleaner, robot cleaner system and a control method of the same |
CN203672362U (en) | 2013-12-31 | 2014-06-25 | 科沃斯机器人科技(苏州)有限公司 | Laser distance measurement device and self-moving robot with same |
KR102118051B1 (en) | 2014-01-17 | 2020-06-02 | 엘지전자 주식회사 | robot cleaning system and charge method of the same |
KR102158695B1 (en) | 2014-02-12 | 2020-10-23 | 엘지전자 주식회사 | robot cleaner and a control method of the same |
KR102072387B1 (en) | 2014-03-20 | 2020-02-03 | 삼성전자주식회사 | Robot cleaner and method for controlling the same |
DE102014012811B4 (en) | 2014-03-27 | 2017-09-21 | Miele & Cie. Kg | Floor cleaning apparatus and method and system for determining a floor plan by a self-propelled floor cleaning device |
CN104972462B (en) | 2014-04-14 | 2017-04-19 | 科沃斯机器人股份有限公司 | Obstacle avoidance walking method of self-moving robot |
KR101578884B1 (en) | 2014-04-25 | 2015-12-29 | 에브리봇 주식회사 | Distance sensor, robot cleaner and control method thereof |
KR101578861B1 (en) | 2014-04-25 | 2015-12-21 | 에브리봇 주식회사 | Distance sensor, robot cleaner and control method thereof |
KR101578864B1 (en) | 2014-04-25 | 2015-12-29 | 에브리봇 주식회사 | Distance sensor, robot cleaner and control method thereof |
KR101578878B1 (en) | 2014-05-07 | 2015-12-21 | 에브리봇 주식회사 | Distance sensor device, robot cleaner and control method thereof |
JP5676039B1 (en) | 2014-05-28 | 2015-02-25 | シャープ株式会社 | Self-propelled device, control method for self-propelled device, and control program for self-propelled device |
CN105334847B (en) | 2014-06-26 | 2021-07-27 | 科沃斯机器人股份有限公司 | Self-moving robot |
DE102014110104B4 (en) | 2014-07-18 | 2016-12-15 | eyeworkers interactive GmbH | System for controlling mobile mobile units |
DE102014110265A1 (en) | 2014-07-22 | 2016-01-28 | Vorwerk & Co. Interholding Gmbh | Method for cleaning or processing a room by means of a self-moving device |
US10211191B2 (en) * | 2014-08-06 | 2019-02-19 | Pixart Imaging Inc. | Image module package with transparent sub-assembly |
DE102014111217A1 (en) | 2014-08-06 | 2016-02-11 | Vorwerk & Co. Interholding Gmbh | Floor cleaning device for dry and damp cleaning and method for operating a self-propelled floor cleaning device |
WO2016019996A1 (en) | 2014-08-06 | 2016-02-11 | Alfred Kärcher Gmbh & Co. Kg | Method for treating a floor surface and floor-treating device |
KR102306709B1 (en) | 2014-08-19 | 2021-09-29 | 삼성전자주식회사 | Robot cleaner, control apparatus, control system, and control method of robot cleaner |
KR102527645B1 (en) | 2014-08-20 | 2023-05-03 | 삼성전자주식회사 | Cleaning robot and controlling method thereof |
WO2016028021A1 (en) | 2014-08-20 | 2016-02-25 | 삼성전자주식회사 | Cleaning robot and control method therefor |
JP6325946B2 (en) | 2014-08-27 | 2018-05-16 | 東芝ライフスタイル株式会社 | Autonomous vehicle |
JP5819498B1 (en) | 2014-08-27 | 2015-11-24 | シャープ株式会社 | Autonomous mobile body and autonomous mobile body system |
DE102014113040A1 (en) | 2014-09-10 | 2016-03-10 | Miele & Cie. Kg | Method for operating a household appliance system |
WO2016048077A1 (en) | 2014-09-24 | 2016-03-31 | 삼성전자주식회사 | Cleaning robot and method for controlling cleaning robot |
EP3199083B1 (en) | 2014-09-24 | 2021-09-08 | Samsung Electronics Co., Ltd. | Cleaning robot and method for controlling cleaning robot |
CN105527961A (en) | 2014-09-30 | 2016-04-27 | 科沃斯机器人有限公司 | Self-propelled surface-traveling robot system and method for returning to primary charging base |
US9798328B2 (en) | 2014-10-10 | 2017-10-24 | Irobot Corporation | Mobile robot area cleaning |
US9846042B2 (en) | 2014-11-13 | 2017-12-19 | Worcester Polytechnic Institute | Gyroscope assisted scalable visual simultaneous localization and mapping |
US9788698B2 (en) | 2014-12-10 | 2017-10-17 | Irobot Corporation | Debris evacuation for cleaning robots |
EP3230815B1 (en) | 2014-12-11 | 2020-05-06 | Husqvarna AB | Improved navigation for a robotic working tool |
US9420741B2 (en) | 2014-12-15 | 2016-08-23 | Irobot Corporation | Robot lawnmower mapping |
WO2016095966A1 (en) | 2014-12-16 | 2016-06-23 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
EP3045936A1 (en) * | 2015-01-13 | 2016-07-20 | XenomatiX BVBA | Surround sensing system with telecentric optics |
KR101640706B1 (en) | 2015-01-28 | 2016-07-18 | 엘지전자 주식회사 | Vacuum cleaner |
KR102404258B1 (en) | 2015-02-06 | 2022-06-02 | 삼성전자주식회사 | Apparatus for returning of robot and returning method thereof |
CN104634601B (en) | 2015-02-09 | 2017-07-25 | 杭州市质量技术监督检测院 | The detection means and method of clean robot clean-up performance |
US9717387B1 (en) | 2015-02-26 | 2017-08-01 | Brain Corporation | Apparatus and methods for programming and training of robotic household appliances |
US9630319B2 (en) | 2015-03-18 | 2017-04-25 | Irobot Corporation | Localization and mapping using physical features |
US9868211B2 (en) | 2015-04-09 | 2018-01-16 | Irobot Corporation | Restricting movement of a mobile robot |
DE102015006014A1 (en) | 2015-05-13 | 2016-11-17 | Universität Bielefeld | Soil cultivation device and method for its navigation and swarm of tillage equipment and methods for their joint navigation |
CN105045098B (en) | 2015-05-29 | 2017-11-21 | 希美埃(芜湖)机器人技术有限公司 | A kind of control method of Control During Paint Spraying by Robot track automatic creation system |
US9919425B2 (en) | 2015-07-01 | 2018-03-20 | Irobot Corporation | Robot navigational sensor system |
EP3156873B2 (en) | 2015-10-15 | 2023-04-05 | Honda Research Institute Europe GmbH | Autonomous vehicle with improved simultaneous localization and mapping function |
DE102015119501A1 (en) | 2015-11-11 | 2017-05-11 | RobArt GmbH | Subdivision of maps for robot navigation |
CN105990876B (en) | 2015-12-21 | 2019-03-01 | 小米科技有限责任公司 | Charging pile, identification method and device thereof and automatic cleaning equipment |
CN105467398B (en) | 2015-12-31 | 2018-08-21 | 上海思岚科技有限公司 | Scan distance-measuring equipment |
CN105527619B (en) | 2016-02-05 | 2018-07-17 | 上海思岚科技有限公司 | A kind of Laser Distance Measuring Equipment |
DE102016102644A1 (en) | 2016-02-15 | 2017-08-17 | RobArt GmbH | Method for controlling an autonomous mobile robot |
DE102016114594A1 (en) | 2016-08-05 | 2018-02-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
DE102016125319A1 (en) | 2016-12-22 | 2018-06-28 | Vorwerk & Co. Interholding Gmbh | Method for operating a self-propelled vehicle |
-
2015
- 2015-06-18 DE DE102015109775.3A patent/DE102015109775B3/en active Active
-
2016
- 2016-06-06 WO PCT/AT2016/050179 patent/WO2016201465A2/en active Application Filing
- 2016-06-06 US US15/737,510 patent/US11550054B2/en active Active
- 2016-06-06 EP EP16741218.8A patent/EP3311197A2/en active Pending
- 2016-06-06 CN CN201680035323.1A patent/CN107750341A/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US11550054B2 (en) | 2023-01-10 |
US20180180738A1 (en) | 2018-06-28 |
WO2016201465A2 (en) | 2016-12-22 |
DE102015109775B3 (en) | 2016-09-22 |
CN107750341A (en) | 2018-03-02 |
WO2016201465A3 (en) | 2017-02-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1405037B1 (en) | Device for optical measurement of distance over a large measuring range | |
EP2002281B1 (en) | Device for optically measuring distance | |
EP2293044B1 (en) | Device and method for detecting impurities | |
EP0190624B1 (en) | Opto-electronic rangefinder | |
DE202014005508U1 (en) | Distance measuring device | |
DE102017124535A1 (en) | Transceiver module for an optoelectronic sensor and method for detecting objects | |
EP2378309B1 (en) | Optoelectronic sensor and method for recording information about objects in a monitoring area | |
DE102015118258B3 (en) | Laser scanner and method for checking its functionality | |
DE212017000247U1 (en) | LiDAR device | |
DE102012020457A1 (en) | Optical distance measuring or locating device and electronic device formed therewith | |
EP3347673B1 (en) | Position-sensitive optoelectronic detector arrangement, and laser beam receiver using same | |
DE102009050826B4 (en) | Optical sensor | |
EP3388857B1 (en) | Laser scanner and method for testing its functional capability | |
DE102015109775B3 (en) | Optical triangulation sensor for distance measurement | |
EP2093731A1 (en) | Linear optical smoke alarm with multiple part-beams | |
DE102011108683A1 (en) | Optical measuring device for a vehicle | |
EP1780559B1 (en) | Optical sensor | |
DE19804059A1 (en) | Device for optical distance measurement | |
EP3491413A1 (en) | Optical arrangement for a lidar system, lidar system, and working device | |
EP3324218B1 (en) | Multi-beam light barrier | |
DE102019121605A1 (en) | Optical liquid detector with flat detection surface and coplanar optoelectronic components | |
DE112015006912T5 (en) | Optical distance measuring system | |
DE102016216372B3 (en) | Laser rangefinder with a receiving optics | |
EP1903352A1 (en) | Opto-electronic sensor unit and method for operating an opto-electronic sensor unit | |
DE102006056648A1 (en) | Opto-electronic sensor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20180118 |
|
AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20210317 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
19U | Interruption of proceedings before grant |
Effective date: 20230922 |