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1. WO2020111810 - AN APPARATUS FOR CONTROLLING A CLEANING ROBOT AND A CONTROL METHOD FOR THE SAME

Publication Number WO/2020/111810
Publication Date 04.06.2020
International Application No. PCT/KR2019/016558
International Filing Date 28.11.2019
IPC
B25J 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 19/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
B25J 15/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
F27D 25/00 2010.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
27FURNACES; KILNS, OVENS OR RETORTS
DDETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
25Devices for removing incrustations
A47L 7/00 2006.01
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
7Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
CPC
A47L 7/00
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
7Suction cleaners adapted for additional purposes
A47L 9/28
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
9Details 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
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 15/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
B25J 19/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Applicants
  • 주식회사 포스코 POSCO [KR]/[KR]
Inventors
  • 최일섭 CHOI, Il-Seop
  • 김성현 KIM, Sung-Hyun
Agents
  • 특허법인 씨엔에스 C&S PATENT AND LAW OFFICE
Priority Data
10-2018-015082229.11.2018KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) AN APPARATUS FOR CONTROLLING A CLEANING ROBOT AND A CONTROL METHOD FOR THE SAME
(FR) APPAREIL DE COMMANDE D'UN ROBOT DE NETTOYAGE ET SON PROCÉDÉ DE COMMANDE
(KO) 청소 로봇 제어 장치 및 제어 방법
Abstract
(EN)
An apparatus for controlling a cleaning robot and a control method therefor are disclosed according to an embodiment of the present invention. The apparatus for controlling a cleaning robot, according to an embodiment of the present invention, comprises: a thermal imaging camera for acquiring a thermal image around a work tool and outputting a thermal image signal; an image camera for acquiring an image around the work tool and outputting an image signal; a laser pointer for irradiating a laser to a designated point; and a control unit for identifying the designated point on the basis of the thermal image signal, controlling the laser pointer, and controlling the work tool by using the image signal so as to make a circular motion around the designated point.
(FR)
Un mode de réalisation de la présente invention concerne un appareil de commande d'un robot de nettoyage et son procédé de commande. L'appareil de commande d'un robot de nettoyage, selon un mode de réalisation de la présente invention, comprend : une caméra d'imagerie thermique pour acquérir une image thermique autour d'un outil de travail et délivrer en sortie un signal d'image thermique ; une caméra d'image pour acquérir une image autour de l'outil de travail et délivrer en sortie un signal d'image ; un pointeur laser pour pointer un laser sur un point désigné ; et une unité de commande pour identifier le point désigné sur la base du signal d'image thermique, commander le pointeur laser, et commander l'outil de travail à l'aide du signal d'image de façon à effectuer un mouvement circulaire autour du point désigné.
(KO)
본 발명의 실시예에 따르면, 청소 로봇 제어 장치 및 청소 로봇 제어 방법이 공개된다. 본 발명의 실시예에 따른 청소 로봇 제어 장치는 작업툴 주변의 열화상을 획득하고, 열화상 신호를 출력하는 열화상 카메라, 상기 작업툴 주변의 영상을 획득하고, 영상 신호를 출력하는 영상 카메라, 지정 지점에 레이저를 조사하는 레이저 포인터, 및 상기 열화상 신호에 기초하여 상기 지정 지점을 파악하고, 상기 레이저 포인터를 제어하며, 상기 영상 신호를 이용하여 상기 작업툴이 상기 지정 지점을 중심으로 원운동을 하도록 상기 작업툴을 제어하는 제어부를 포함한다.
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