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1. WO2022004949 - METHOD FOR CONTROLLING ROBOT CLEANER

Publication Number WO/2022/004949
Publication Date 06.01.2022
International Application No. PCT/KR2020/013543
International Filing Date 06.10.2020
IPC
A47L 9/28 2006.1
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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
G05D 1/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
Applicants
  • 엘지전자 주식회사 LG ELECTRONICS INC. [KR]/[KR]
Inventors
  • 최병석 CHOI, Byoungsuk
Agents
  • 특허법인(유한)케이비케이 KBK & ASSOCIATES
Priority Data
10-2020-008141502.07.2020KR
Publication Language Korean (ko)
Filing Language Korean (KO)
Designated States
Title
(EN) METHOD FOR CONTROLLING ROBOT CLEANER
(FR) PROCÉDÉ DE COMMANDE DE ROBOT NETTOYEUR
(KO) 로봇 청소기의 제어 방법
Abstract
(EN) The present invention relates to a method for controlling a robot cleaner and, more particularly, to a method for controlling a robot cleaner including a plurality of obstacle detection sensors, the method for controlling the robot cleaner to execute the operations comprising: a first step for approaching a charging device for the robot cleaner according to an IR signal transmitted from the charging device for the robot cleaner including a charging terminal for charging the robot cleaner; a second step for checking whether the shortest distance between the robot cleaner and the charging device for the robot cleaner is less than or equal to a first distance through the plurality of obstacle detection sensors; a third step for checking whether the center lines of the robot cleaner and the charging device for the robot cleaner are aligned through the plurality of obstacle detection sensors, and aligning the center lines of the robot cleaner and the charging device for the robot cleaner; and a fourth step for, when the center lines of the robot cleaner and the charging device for the robot cleaner have been aligned, moving the robot cleaner straight toward the charging device for the robot cleaner.
(FR) La présente invention concerne un procédé de commande d'un robot nettoyeur et, plus particulièrement, un procédé de commande d'un robot nettoyeur comprenant une pluralité de capteurs de détection d'obstacle, le procédé de commande du robot nettoyeur pour qu'il exécute les opérations comprenant : une première étape consistant à approcher un dispositif de charge pour le robot nettoyeur en fonction d'un signal IR transmis à partir du dispositif de charge pour le robot nettoyeur comprenant une borne de charge pour charger le robot nettoyeur ; une deuxième étape consistant à vérifier si la distance la plus courte entre le robot nettoyeur et du dispositif de charge pour le robot nettoyeur est inférieure ou égale à une première distance par la pluralité de capteurs de détection d'obstacle ; une troisième étape consistant à vérifier si les lignes centrales du robot nettoyeur et le dispositif de charge pour le robot nettoyeur sont alignées par la pluralité de capteurs de détection d'obstacle, et aligner les lignes centrales du robot nettoyeur et du dispositif de charge pour le robot nettoyeur ; et une quatrième étape consistant à, lorsque les lignes centrales du robot nettoyeur et du dispositif de charge pour le robot nettoyeur ont été alignées, déplacer le robot nettoyeur tout droit vers le dispositif de charge pour le robot nettoyeur.
(KO) 본 발명은 로봇 청소기의 제어 방법에 관한 것으로써, 보다 구체적으로는 복수 개의 장애물 감지 센서들을 포함하는 로봇 청소기가, 상기 로봇 청소기의 충전을 위한 충전 단자를 포함하는 로봇 청소기용 충전장치로부터 송신되는 IR 신호를 따라 상기 로봇 청소기용 충전장치로 접근하는 제1단계, 상기 복수 개의 장애물 감지 센서들을 통해 상기 로봇 청소기와 상기 로봇 청소기용 충전장치 사이의 최단거리가 제1거리 이하인지 여부를 확인하는 제2단계, 상기 복수 개의 장애물 감지 센서들을 통해 상기 로봇 청소기와 상기 로봇 청소기용 충전장치의 중심선이 정렬되었는지 여부를 확인하고, 상기 로봇 청소기와 상기 로봇 청소기용 충전장치의 중심선을 정렬하는 제3단계, 및 상기 로봇 청소기와 상기 로봇 청소기용 충전장치의 중심선이 정렬되면, 상기 로봇 청소기가 상기 로봇 청소기용 충전장치를 향해 직진하는 제4단계를 포함하는 로봇 청소기의 제어 방법에 관한 것이다.
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