公开(公告)号：EP1491980A3

公开(公告)日：2005-08-24

申请号：EP04250884.6

申请日：2004-02-19

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Park, Ki-cheol ,  Oh, Yeon-taek ,  Koh, Won-jun ,  Kim, Yong-jae

IPC: G05D23/20 ,  F24F11/00 ,  G05D23/19 ,  G05D1/02 ,  B25J9/16

CPC classification number: G05D1/0246 ,  F24F11/30 ,  F24F11/56 ,  F24F2110/00 ,  F24F2110/10 ,  F24F2110/50 ,  F24F2221/12 ,  G05D1/0274 ,  G05D23/1905 ,  G05D2201/0207

Abstract: An indoor environmental control system having an indoor environmental control device (40) to control at least one indoor environment, including a mobile sensor (10) being movable and comprising a wireless transmitting/receiving part (22) to wirelessly transmit/receive information, an indoor environmental sensor (12) to sense the indoor environment, and a controller (24) to transmit the information on the indoor environment sensed by the indoor environmental sensor through the wireless transmitting/receiving part; the indoor environmental control device further including a control server (30) receiving the information transmitted from the mobile sensor so as to control the indoor environmental control device on the basis of the received information.

公开(公告)号：EP1510896A1

公开(公告)日：2005-03-02

申请号：EP02730841.0

申请日：2002-05-31

Applicant: FUJITSU LIMITED

Inventor： OKABAYASHI, Keiju c/o FUJITSU LIMITED ,  OKABAYASHI, Miwa c/o FUJITSU LIMITED ,  MURASE, Yuichi c/o FUJITSU LIMITED ,  SHIMIZU, Katsutoshi c/o FUJITSU LIMITED ,  IWASHITA, Sumihisa c/o FUJITSU LIMITED ,  SAWASAKI, Naoyuki c/o FUJITSU LIMITED

IPC: G05D1/00 ,  G01C15/00

CPC classification number: G05D1/0038 ,  G05D1/0229 ,  G05D1/0242 ,  G05D1/0251 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207 ,  G06K9/00664 ,  G06T7/74 ,  G06T2200/32 ,  G06T2207/20021 ,  G06T2207/30244

Abstract: A remotely controlled robot 1 comprises a unit 2 storing the layout plan of a building, a unit 3 receiving a position remotely designated in the layout plan from a remote location and a unit 4 controlling the travel of the robot to the designated position. A self-position identification method is implemented by a robot with a camera whose shooting direction can be changed. The robot takes in advance a panoramic picture of a room where the robot may travel, generates a reference picture by extracting a plurality of block pictures from the panoramic picture and identifies a room where the robot is located, by applying correlation and DP matching, using both a picture taken in the room where the robot is located and the reference picture.

Abstract translation: 遥控机器人1包括存储建筑物的布局图的单元2，从远程位置接收在布局图中远程指定的位置的单元3和控制机器人到指定位置的行进的单元4。 自动位置识别方法由具有可以改变拍摄方向的照相机的机器人实现。 机器人预先提取机器人可以行进的房间的全景照片，通过从全景图像中提取多个块图片并通过应用相关性和DP匹配来识别机器人所在的房间来生成参考图像，使用 在机器人所在的房间中拍摄的照片和参考图片。

公开(公告)号：EP1232424A1

公开(公告)日：2002-08-21

申请号：EP00980501.1

申请日：2000-11-17

Applicant: THE PROCTER & GAMBLE COMPANY

Inventor： BARTSCH, Eric, R. ,  FISCHER, Charles, W. ,  FRANCE, Paul, A. ,  KIRKPATRICK, James, F. ,  HEATON, Gary, G. ,  HORTEL, Thomas, C. ,  RADOMYSELSKI, Arseni ,  STIGALL, James, R.

IPC: G05D1/02 ,  A47L9/00

CPC classification number: A47L9/009 ,  A47L9/00 ,  A47L9/0009 ,  A47L11/4011 ,  A47L11/4061 ,  A47L2201/04 ,  F24F3/1603 ,  F24F11/30 ,  F24F2003/1689 ,  F24F2110/50 ,  F24F2221/42 ,  G05D1/0221 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/0261 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0207 ,  G05D2201/0214

Abstract: An autonomously movable cleaning robot comprising a platform and motive force to autonomously move the robot on a substantially horizontal surface having boundaries. The robot further has a computer processing unit for storing, receiving and transmitting data, and a cleaning implement operatively associated with the robot. The robot receives input data from an external source. The external source may be physical manipulation of the robot, remote control, or by triangulation from at least three external transmitters.

公开(公告)号：EP0635773B1

公开(公告)日：1999-09-29

申请号：EP94110598.3

申请日：1994-07-07

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： Rencken, Wolfgang, Dr.

IPC: G05D1/02 ,  G01C21/00

CPC classification number: G01S13/89 ,  B25J13/089 ,  G01S13/881 ,  G01S13/931 ,  G01S2013/9364 ,  G01S2013/9367 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207

公开(公告)号：EP0847549A1

公开(公告)日：1998-06-17

申请号：EP97906146.0

申请日：1997-03-01

Applicant: GMD-Forschungszentrum Informationstechnik GmbH

Inventor： KIRCHNER, Frank ,  HERTZBERG, Joachim

IPC: E03F7 ,  G05D1

CPC classification number: E03F7/12 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0207

Abstract: The autonomous mobile robot system is provided with a sensor-based and map-based navigation system for navigating in a pipe network. The navigation is based on the classification of pre-existing natural landmarks. The navigation system can compensate for inaccurate robot system's motion control, sensor information, and landmark classification.

公开(公告)号：EP0405623A3

公开(公告)日：1991-02-06

申请号：EP90116813.8

申请日：1987-05-21

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO

Inventor： Susuki, Toru ,  Kato, Atsuhiko ,  Hosoi, Mitsuo ,  Nakano, Ichiro

IPC: G01N15/08 ,  G05D1/02

CPC classification number: G05D1/027 ,  G01C21/20 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0207

Abstract: This invention is intended to periodically correct the position and posture of an automatically steerable unmanned moving body according to a guiding method with the aid of dead reckoning or the like. A plurality of sets of at least two ground marks (8) are placed on the movement passage of the unmanned moving body (1) in a spaced relation along a reference passage (15) and the ground marks (8) are visually recognized by means of a television camera (6) or the like means mounted on the unmanned moving body. Then, the existent position and posture of the unmanned moving body (1) are detected with reference to the results of visual recognization and thereafter the position and posture of the unmanned moving body (1) which have been calculated in accordance with the aforesaid guiding method or the like are corrected in accordance with the thus detected results.

公开(公告)号：KR101912001B1

公开(公告)日：2018-10-25

申请号：KR1020157030839

申请日：2012-11-27

Applicant: 인터내셔널 비지네스 머신즈 코포레이션

Inventor： 궈,샹,큐 ,  이씨,캔투르크 ,  랜취너,조나단 ,  무커지,마하라지

IPC: G06G7/78 ,  G06G7/80 ,  G05B19/418 ,  G05D1/02

CPC classification number: G05D1/0291 ,  G05B19/41815 ,  G05B2219/39146 ,  G05B2219/39168 ,  G05D1/0274 ,  G05D2201/0207 ,  G08G1/20

Abstract: 복수의로봇들을사용하여환경을발견하고감시하기위한기술들이제공된다. 복수의로봇들이환경을항해하되상기로봇들각각을위한내비게이션버퍼를결정하는단계; 및상기로봇들각각이다른로봇들로부터실질적으로최소의거리를유지하면서상기환경내에서항해하도록허용하는단계에의해서하고, 상기실질적으로최소의거리는상기내비게이션버퍼들에대응하며, 상기내비게이션버퍼들각각의사이즈는항해될(to be navigated) 남아있는상기환경의백분율에기초하여시간에따라감소된다. 상기로봇들은또한환경을항해할수 있는데, 상기환경에대해복수의개별영역들(discrete regions)로의개별화(a discretization)를획득하는단계; 및상기복수의로봇들중 하나가폭-우선탐색(a breadth-first search)을사용하여상기예시적환경에서탐색하기(explore) 위해방문안된다음개별영역(a next unvisited discrete region)을결정하는단계에의해서할 수있다. 상기복수의개별영역들은, 예를들어, 복수의실제또는가상의타일들이될 수있다.

公开(公告)号：KR1020150034361A

公开(公告)日：2015-04-03

申请号：KR1020130114335

申请日：2013-09-26

Applicant: 한국전자통신연구원

Inventor： 최성록 ,  윤우한 ,  박재현 ,  박승환 ,  유원필 ,  이유철

IPC: B25J5/00 ,  B25J19/06

CPC classification number: G05D1/0225 ,  G05D2201/0207 ,  Y10S901/01

Abstract: 회수장치를구비한이동로봇이제공되며, 몸체(Body)에장착되는적어도하나의이동부재, 이동로봇으로전원을공급하도록이동로봇의일측에연결된전선부재, 전선부재의강성(Rigidity)보다높은강성을가지고, 전선부재를그 내부에위치시켜전선부재를감싸도록구비되는회수부재, 회수부재를수발하는회수기구를포함한다.

Abstract translation: 本发明提供了一种具有收集装置的移动机器人，并且包括：安装在主体上的至少一个移动构件; 连接到所述移动机器人的一侧以向所述移动机器人供电的线构件; 收集构件，具有比所述线构件的刚性更高的刚性，并且通过将所述线构件定位在其中来包围所述线构件; 以及辅助收集构件的收集机构。

公开(公告)号：KR1020140128021A

公开(公告)日：2014-11-05

申请号：KR1020130046624

申请日：2013-04-26

Applicant: 삼성전자주식회사

Inventor： 오희진 ,  김경재 ,  민현석 ,  송성근 ,  이창석 ,  이호연

IPC: A47L9/28 ,  B25J9/16 ,  B25J13/08 ,  G05D1/02

CPC classification number: G05D1/0246 ,  A47L2201/04 ,  G05B15/00 ,  G05B2219/45098 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  H04L12/2803

Abstract: 본 발명은 본체; 홈 내에서 본체를 이동시키는 이동 어셈블리; 본체 주변의 영상을 수집하는 영상부; 수집된 영상 정보에 기초하여 홈 내의 맵을 작성하는 제어부; 작성된 맵을 홈 모니터링 장치로 전송하는 통신부를 포함한다.
본 발명은 홈 내부 구조에 대한 2차원 또는 3차원 맵에 전기기기의 위치와 종류를 매치시키는 과정을 자동화할 수 있다.
이와 같이, 청소 로봇이 청소를 위해 작성한 맵 정보를 홈 관리 시에 이용함으로써 홈 내의 구조를 사실적으로 작성할 수 있고, 룸별로 위치한 전기기기를 자동으로 등록시킬 수 있어 사용자가 일일이 룸별로 위치한 전기기기를 등록해야 하는 등의 UX(User Experience)적 어려움을 해결할 수 있다.

Abstract translation: 本发明包括：主体; 在家中移动主体的移动组件; 收集围绕主体的图像的图像单元; 控制单元，基于所收集的图像信息生成家庭的地图; 以及将地图传送到家庭监视装置的通信单元。 本发明可以使将电器的位置和类型与家庭内部结构的二维或三维地图相匹配的过程自动化。 因此，本发明实际上可以形成家庭的内部结构，并且当家庭被管理时，通过使用由清洁机器人产生的地图信息来清洁房间来自动登记位于每个房间中的电气设备，从而解决问题 在用户体验（UX）中，例如用户逐个注册位于每个房间中的电子设备的不便。

公开(公告)号：KR1020110046212A

公开(公告)日：2011-05-04

申请号：KR1020090128336

申请日：2009-12-21

Applicant: 한국전자통신연구원 ,  에스케이텔레콤 주식회사 ,  에스케이플래닛 주식회사

Inventor： 이유철 ,  정지훈 ,  유원필

IPC: G01S17/89 ,  G06T17/05 ,  G01C15/02

CPC classification number: G01C15/00 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0207 ,  G05D2201/0216

Abstract: PURPOSE: A method and device for mapping an artificial mark and a method and device for measuring the position of a moving body using the same are provided to measure the position of the moving body by using a coordinate value of an artificial mark stored in a map information DB and the relative position information of the artificial mark. CONSTITUTION: An environment information obtaining unit measures the position information of surrounding objects with an artificial mark and the position information of the moving body. An artificial mark detector(106) obtains the image of the artificial mark. An artificial mark detecting block(110) calculates the relative position information of the artificial mark by analyzing the obtained image, the position information of the surrounding objects, and the position information of the moving body. A mapping unit(114) calculates the coordinate of the artificial mark by using the relative position information and stores the coordinate and the ID of the artificial mark in a database(116) as map information.

Abstract translation: 目的：提供用于映射人造标记的方法和装置，以及用于测量使用其的移动体的位置的方法和装置，以通过使用存储在地图中的人造标记的坐标值来测量移动体的位置 信息DB和人造标记的相对位置信息。 构成：环境信息获取单元用人造标记和移动体的位置信息来测量周围物体的位置信息。 人造标记检测器（106）获得人造标记的图像。 人造标记检测块（110）通过分析所获得的图像，周围物体的位置信息和移动体的位置信息来计算人造标记的相对位置信息。 映射单元（114）通过使用相对位置信息计算人造标记的坐标，并将人造标记的坐标和ID作为地图信息存储在数据库（116）中。