US6496754B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Mobile robot and course adjusting method thereof
Assignee: Samsung Electronics Co Ltd
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Filing: 2001-06-11
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Granted: 2002-12-17
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Expires: 2021-06-11
Abstract
Abstract A mobile robot capable of recognizing its location and adjusting its direction in response to an obstacle in its way includes a running device, an obstacle detecting device for detecting the presence of an obstacle, a location recognizing device, a controlling portion, and a power supply. The location recognizing device includes a first vision camera directed toward the ceiling of a room and a first vision board. The first vision camera recognizes a base mark on the ceiling. The first vision board processes an image from the first vision camera and transmits the image data to the controlling portion. The obstacle detecting device includes a line laser for emitting a linear light beam toward the obstacle, a second vision camera for recognizing a reflective linear light beam from the obstacle, and a second vision board for processing image data captured by the second vision camera.
Inventors
- 👤 Jeong-Gon Song
- 👤 Sang-Yong Lee
- 👤 Seung-bin Moon
- 👤 Kyoung-mu Lee
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 18:14
CPC Classifications
A; A47; A47L; A47L9/00; A47L9/009; G; G01; G01S; G01S17/00; G01S17/86; G01S17/88; G01S17/93; G01S17/931; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; A47L2201/00; A47L2201/04; G01S17/02; G01S17/06; G01S17/46
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
217 words
A mobile robot comprising: a running device for moving the mobile robot about a room; an obstacle detecting device for detecting a presence of an obstacle; a controlling portion coupled to and controlling the running device and the obstacle detecting device; a location recognizing device coupled to the controlling portion for recognizing a current location of the mobile robot, the location recognizing device including a first vision camera and a first vision board, the first vision camera for imaging a ceiling of the room and recognizing a base mark on the ceiling, the first vision board processing an image from the first vision camera and transmitting data to the controlling portion; and a power supply coupled to the controlling portion, the power supply storing and supplying electricity to the running device, obstacle detecting device, location recognizing device, and the controlling portion, wherein the basemark is a recognition mark having a base plate, and a plurality of dots formed on the base plate at a predetermined distance from each other, and wherein the obstacle detecting device comprises: a line laser for emitting a linear light beam toward the obstacle; a first vision camera for recognizing a reflective linear light beam from the obstacle; and a first vision board for processing image data captured by the first vision camera.
Claim 2
Dependent Claim
217 words
A mobile robot comprising: a running device for moving the mobile robot about a room; an obstacle detecting device for detecting a presence of an obstacle; a controlling portion coupled to and controlling the running device and the obstacle detecting device; a location recognizing device coupled to the controlling portion for recognizing a current location of the mobile robot, the location recognizing device including a first vision camera and a first vision board, the first vision camera for imaging a ceiling of the room and recognizing a base mark on the ceiling, the first vision board processing an image from the first vision camera and transmitting data to the controlling portion; and a power supply coupled to the controlling portion, the power supply storing and supplying electricity to the running device, obstacle detecting device, location recognizing device, and the controlling portion, wherein the basemark is a recognition mark having a base plate, and a plurality of dots formed on the base plate at a predetermined distance from each other, and wherein the obstacle detecting device comprises: a line laser for emitting a linear light beam toward the obstacle; a first vision camera for recognizing a reflective linear light beam from the obstacle; and a first vision board for processing image data captured by the first vision camera.
Claim 3
Dependent Claim
134 words
A mobile robot comprising: a running device for moving the mobile robot about a room; a location recognizing device for recognizing a current location of the mobile robot; a controlling portion for controlling the running device and the location recognizing device; an obstacle detecting device coupled to the controlling portion for detecting a presence of an obstacle, the obstacle detecting device including a line laser for emitting a linear light beam toward the obstacle, a second vision camera for recognizing a reflective linear light beam from the obstacle, and a second vision board, the second vision board processing image data from the second vision camera; a power supply coupled to the controlling portion, the power supply storing and supplying electricity to the running device, obstacle detecting device, location recognizing device, and the controlling portion.
Claim 4
Dependent Claim
134 words
A mobile robot comprising: a running device for moving the mobile robot about a room; a location recognizing device for recognizing a current location of the mobile robot; a controlling portion for controlling the running device and the location recognizing device; an obstacle detecting device coupled to the controlling portion for detecting a presence of an obstacle, the obstacle detecting device including a line laser for emitting a linear light beam toward the obstacle, a second vision camera for recognizing a reflective linear light beam from the obstacle, and a second vision board, the second vision board processing image data from the second vision camera; a power supply coupled to the controlling portion, the power supply storing and supplying electricity to the running device, obstacle detecting device, location recognizing device, and the controlling portion.
Claim 5
Dependent Claim
28 words
The mobile robot as claimed in claim 2 , wherein the second vision camera comprises a filter for exclusively recognizing the linear light beam from the line laser.
Claim 6
Dependent Claim
29 words
The mobile robot as claimed in claim 2 , wherein the obstacle detecting device comprises a plurality of line lasers for emitting linear light beams at a predetermined angle.
Claim 7
Dependent Claim
41 words
The mobile robot as claimed in claim 2 , further comprising a vacuum cleaner having: a suction port for sucking in contaminants; a dust collecting portion for collecting the contaminants therein; and a motor driving portion for generating a suction force.
Claim 8
Independent Claim
193 words
A method for adjusting a course of a mobile robot, the mobile robot including a running device for moving the mobile robot about a room; an obstacle detecting device for detecting a presence of an obstacle; a location recognizing device for recognizing a current location of the mobile robot; a controlling portion for controlling the running device, the obstacle detecting device and the location recognizing device, and a power supply for storing and supplying electricity to the running device, the obstacle detecting device, the location recognizing device and the controlling portion, the method comprising: (i) photographing a base mark using a first vision camera of the location recognizing device and generating image data of the base mark using a first vision board; (ii) determining whether coordinates of the base mark, which are obtained by data processing of the controlling portion, match coordinates of a predetermined moving route; and (iii) controlling the running device of the mobile robot to move in a direction by a corresponding distance to compensate for any deviation from the predetermined moving route, when the coordinates of the base mark do not match the coordinates of the predetermined moving route.
Claim 9
Independent Claim
193 words
A method for adjusting a course of a mobile robot, the mobile robot including a running device for moving the mobile robot about a room; an obstacle detecting device for detecting a presence of an obstacle; a location recognizing device for recognizing a current location of the mobile robot; a controlling portion for controlling the running device, the obstacle detecting device and the location recognizing device, and a power supply for storing and supplying electricity to the running device, the obstacle detecting device, the location recognizing device and the controlling portion, the method comprising: (i) photographing a base mark using a first vision camera of the location recognizing device and generating image data of the base mark using a first vision board; (ii) determining whether coordinates of the base mark, which are obtained by data processing of the controlling portion, match coordinates of a predetermined moving route; and (iii) controlling the running device of the mobile robot to move in a direction by a corresponding distance to compensate for any deviation from the predetermined moving route, when the coordinates of the base mark do not match the coordinates of the predetermined moving route.
Claim 10
Dependent Claim
51 words
The method as claimed in claim 6 , wherein the step (i) includes: photographing the base mark using the first vision camera of the location recognizing device and generating an image of the base mark; and setting a threshold of the image using the first vision board and generating image data.
Claim 11
Dependent Claim
27 words
The method as claimed in claim 6 , wherein the step (ii) further includes performing region correlation in addition to calculating the coordinates of the base mark.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-12-16 | 2006-06-17 | 2006-12-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-12-16 | 2010-06-17 | 2010-12-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-12-16 | 2014-06-17 | 2014-12-17 | $7700.00 | Window Closed / Lapsed |