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1. (WO2018101631) ROBOTIC VACUUM CLEANER, CLEANING FUNCTION CONTROL APPARATUS EQUIPPED IN ROBOTIC VACUUM CLEANER, AND MULTI-CHANNEL LIDAR-BASED OBSTACLE DETECTION APPARATUS EQUIPPED IN ROBOTIC VACUUM CLEANER
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Pub. No.: WO/2018/101631 International Application No.: PCT/KR2017/012629
Publication Date: 07.06.2018 International Filing Date: 08.11.2017
IPC:
B25J 11/00 (2006.01) ,B25J 9/16 (2006.01) ,B25J 19/02 (2006.01) ,A47L 9/28 (2006.01) ,G01S 17/93 (2006.01) ,G01S 17/89 (2006.01) ,G01S 7/481 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11
Manipulators not otherwise provided for
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02
Sensing devices
A HUMAN NECESSITIES
47
FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
L
DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
9
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
28
Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Regulation of suction cleaners by electric means
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88
Lidar systems, specially adapted for specific applications
93
for anti-collision purposes
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88
Lidar systems, specially adapted for specific applications
89
for mapping or imaging
G PHYSICS
01
MEASURING; TESTING
S
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
7
Details of systems according to groups G01S13/, G01S15/, G01S17/127
48
of systems according to group G01S17/58
481
Constructional features, e.g. arrangements of optical elements
Applicants:
(주)유진로봇 YUJIN ROBOT CO., LTD [KR/KR]; 서울시 금천구 디지털로 130 남성프라자 1214호 1214, Namsung Plaza, 130, Digital-ro, Geumcheon-gu, Seoul 08589, KR
Inventors:
신경철 SHIN, Kyung Chul; KR
박성주 PARK, Seong Ju; KR
권지욱 KWON, Ji Wook; KR
이재영 LEE, Jae Young; KR
Agent:
특허법인 우인 WOOIN PATENT & LAW FIRM; 서울시 강남구 역삼로 157, 2층 (역삼동, 중평빌딩) (Yeoksam-dong, Jungpyeong Bldg.) 2Fl., 157, Yeoksam-ro, Gangnam-gu, Seoul 06246, KR
Priority Data:
10-2016-016169330.11.2016KR
10-2016-016508106.12.2016KR
10-2017-010571521.08.2017KR
Title (EN) ROBOTIC VACUUM CLEANER, CLEANING FUNCTION CONTROL APPARATUS EQUIPPED IN ROBOTIC VACUUM CLEANER, AND MULTI-CHANNEL LIDAR-BASED OBSTACLE DETECTION APPARATUS EQUIPPED IN ROBOTIC VACUUM CLEANER
(FR) ASPIRATEUR ROBOTIQUE, APPAREIL DE COMMANDE DE FONCTION DE NETTOYAGE ÉQUIPÉ D'UN ASPIRATEUR ROBOTIQUE, ET APPAREIL DE DÉTECTION D'OBSTACLE BASÉ SUR UN LIDAR À CANAUX MULTIPLES ÉQUIPÉ D'UN ASPIRATEUR ROBOTIQUE
(KO) 청소 로봇, 청소 로봇에 구비되는 청소 기능 제어 장치, 및 청소 로봇에 구비되는 다채널 라이더 기반 장애물 검출 장치
Abstract:
(EN) The present invention proposes a cleaning function control apparatus and method which determine a state of a floor surface by obtaining information on respective points of a room as 3-dimensional information and control cleaning functions for the room on the basis of the state of the floor surface; and a robotic vacuum cleaner equipped with the same. Furthermore, the present invention proposes a multi-channel LiDAR-based obstacle detection apparatus and method which obtain spatial information on surrounding environments in 3-dimensions by using a multi-channel LiDAR, distinguish walls, obstacles, vertical landscapes, etc. from this 3-dimensional environment information, and operate a collision path avoidance algorithm for increasing the efficiency of a robotic vacuum cleaner while avoiding collisions on the basis of the measured obstacle information; and a robotic vacuum cleaner equipped with the same.
(FR) La présente invention concerne un appareil et un procédé de commande de fonction de nettoyage qui déterminent un état d'une surface de sol grâce à l'obtention d'informations sur des points respectifs d'une pièce en tant qu'informations en trois dimensions et commandent des fonctions de nettoyage pour la pièce sur la base de l'état de la surface de sol ; et un aspirateur robotique équipé de ceux-ci. En outre, la présente invention propose un appareil et un procédé de détection d'obstacle basés sur un LiDAR à canaux multiples qui obtiennent des informations spatiales concernant des environnements voisins en trois dimensions à l'aide d'un LiDAR à canaux multiples, distinguent murs, obstacles, paysages verticaux, etc. à l'aide de ces informations d'environnement en trois dimensions, et font fonctionner un algorithme d'évitement de chemin de collision pour augmenter l'efficacité d'un aspirateur robotique tout en évitant les collisions sur la base des informations d'obstacle mesurées ; et un aspirateur robotique équipé de ceux-ci.
(KO) 본 발명은 실내의 각 지점에 대한 정보를 3차원 정보로 획득하여 바닥면의 상태를 결정하고, 이 바닥면의 상태를 기초로 실내에 대한 청소 기능을 제어하는 청소 기능 제어 장치와 방법 및 이를 구비하는 청소 로봇을 제안한다. 또한 본 발명은 다채널 라이더를 이용하여 주변 환경을 3차원적 공간 정보로 획득하고, 이 3차원 환경 정보로부터 벽, 장애물, 수직 환경 등을 구분하며, 측정된 장애물 정보를 바탕으로 충돌을 회피하면서 청소 로봇의 효율성을 높이는 충돌 경로 회피 알고리즘을 작동시키는 다채널 라이더 기반 장애물 검출 장치와 방법 및 이를 구비하는 청소 로봇을 제안한다.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Korean (KO)
Filing Language: Korean (KO)