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No. Publication Number Title Publication/Patent Number Publication/Patent Number Publication Date Publication Date
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1 US10663322B2
Distance measuring device and method thereof for seeking distance measuring starting point
Publication/Patent Number: US10663322B2 Publication Date: 2020-05-26 Application Number: 15/038,395 Filing Date: 2014-11-21 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G01C3/08 Abstract: A distance measuring device comprises a motor (120), a control box (130) and a code disc (150). Relative rotation occurs between the control box (130) and the code disc (150) driven by the motor. A point position tooth (151A) is comprised on the code disc (150). The control box (130) comprises a distance measuring unit (142), a detection part (144) and a control unit (140). The detection part (144) comprises a light emitter (1440) and a light receiver (1441) which are correspondingly arranged. The control box (130) is rotated relative to the code disc (150), so that the point position tooth (151A) passes through a corresponding position between the light emitter (1440) and the light receiver (1441); the control unit (140) receives the signal output of the light receiver (1441), judges the information on alignment status of the point position tooth (151A) with the corresponding position, and sends a start or stop operation instruction to the distance measuring unit (142) on the basis of the status information. A method for seeking a distance measuring starting point is also provided, scan data is obtained by using a synchronous scanning mode of the code disc, and the starting point is judged on the basis of the output waveform of the code disc.
2 US10639795B2
Light spot indication robot and light spot indication method thereof
Publication/Patent Number: US10639795B2 Publication Date: 2020-05-05 Application Number: 15/109,374 Filing Date: 2014-12-31 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: B25J9/16 Abstract: A light spot indication robot and a light spot indication method thereof are arranged. The light spot indication robot comprises a robot body which is arranged with a control module, a camera module and a laser indication module (100), wherein the laser indication module (100) emits a laser beam, the imaging module shoots to-be-indicated objects to form an image plane, the laser beam and the to-be-indicated object are projected onto the image plane to form a laser spot projection position and to-be-indicated object projection positions, respectively. The light spot indication robot is also arranged with a signal input module. According to content shown on the image plane of the to-be-indicated objects shot by the imaging module and input information of the signal input module, a target object among the to-be-indicated objects is determined. The control module controls the laser indication module to move, so as to cause the laser spot projection position to coincide with a projection position of the target object in the image plane. The present invention converts the location in a three-dimensional space into the location in a two-dimensional space, and has a small computation amount and a quick and accurate position indication.
3 EP3120742B1
SELF-MOVING DEVICE AND LOCOMOTION CONTROL METHOD THEREOF
Publication/Patent Number: EP3120742B1 Publication Date: 2020-07-08 Application Number: 15764248.9 Filing Date: 2015-03-17 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: A47L1/02
4 US2020240815A1
DISTANCE MEASURING DEVICE AND METHOD THEREOF FOR SEEKING DISTANCE MEASURING STARTING POINT
Publication/Patent Number: US2020240815A1 Publication Date: 2020-07-30 Application Number: 16/851,020 Filing Date: 2020-04-16 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G01D5/347 Abstract: A distance measuring device includes a motor, a control box and a code discs which are relative rotate driven by the motor. A point position tooth is comprised on the code disc. The control box comprises a distance measuring unit, a detection part and a control unit. The detection part comprises a light emitter and a light receiver which are correspondingly arranged. The control box is rotated relative to the code disc, so that the point position tooth passes through a corresponding position between the light emitter and the light receiver; the control unit receives the signal output of the light receiver, judges the information on alignment status of the point position tooth with the corresponding position, and sends a start or stop operation instruction to the distance measuring unit on the basis of the status information. A method for seeking a distance measuring starting point is also provided.
5 EP3672762A1
SELF-PROPELLED ROBOT PATH PLANNING METHOD, SELF-PROPELLED ROBOT AND STORAGE MEDIUM
Publication/Patent Number: EP3672762A1 Publication Date: 2020-07-01 Application Number: 18847907.5 Filing Date: 2018-08-25 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: B25J11/00
6 US2020089235A1
SELF-MOVING ROBOT MOVEMENT BOUNDARY DETERMINING METHOD
Publication/Patent Number: US2020089235A1 Publication Date: 2020-03-19 Application Number: 16/691,419 Filing Date: 2019-11-21 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G05D1/02 Abstract: In a self-moving robot movement boundary delimiting method, in step 100: setting up three or more base stations in a movement area of a self-moving robot, and establishing a coordinate system; in step 200: artificially planning a movement path in the movement area of the self-moving robot, gathering sample points on the path, and determining the coordinates of the sample points in the coordinate system; and in step 300: delimiting a boundary according to the coordinates of the gathered sample points, and setting the self-moving robot to work inside or outside the boundary. The present invention achieves a regional division by distance measurement and positioning based on stationary base stations, thus improving accuracy and convenience compared to the prior art.
7 US2020215694A1
DYNAMIC REGION DIVISION AND REGION PASSAGE IDENTIFICATION METHODS AND CLEANING ROBOT
Publication/Patent Number: US2020215694A1 Publication Date: 2020-07-09 Application Number: 16/733,164 Filing Date: 2020-01-02 Inventor: Song, Qingxiang   Xu, Kaili   Zhu, Yongkang   Liu, Da   Zhang, Yibin   Shan, Junjie   Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: B25J9/16 Abstract: Provided are dynamic region division and region passage identification methods and a cleaning robot. The dynamic region division method includes: acquiring environment information collected by a robot when working in a first region; determining whether the robot has completed a work task in the first region, when a presence of a passage entering a second region is determined based on the environment information; and complementing a boundary at the passage to block the passage, when the work task is not completed. According to the technical solution provided by the embodiment of the present application, the occurrence probability of repeated sweeping and miss sweeping is reduced, and the cleaning efficiency is high. In addition, the technical solution provided by the embodiment of the present application relies on the environment information collected during the work, rather than relying on historical map data, so that the environmental adaptability is high.
8 US10520950B2
Self-moving robot movement boundary delimiting method
Publication/Patent Number: US10520950B2 Publication Date: 2019-12-31 Application Number: 15/514,207 Filing Date: 2015-09-25 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G05B19/18 Abstract: In a self-moving robot movement boundary delimiting method, in step 100: setting up three or more base stations in a movement area of a self-moving robot, and establishing a coordinate system; in step 200: artificially planning a movement path in the movement area of the self-moving robot, gathering sample points on the path, and determining the coordinates of the sample points in the coordinate system; and in step 300: delimiting a boundary according to the coordinates of the gathered sample points, and setting the self-moving robot to work inside or outside the boundary. The present invention achieves a regional division by distance measurement and positioning based on stationary base stations, thus improving accuracy and convenience compared to the prior art.
9 EP3459421A1
AUTONOMOUS MOBILE ROBOT, CONTROL METHOD THEREFOR, AND COMBINED ROBOT THEREOF
Publication/Patent Number: EP3459421A1 Publication Date: 2019-03-27 Application Number: 17798771.6 Filing Date: 2017-05-19 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: A47L11/24 Abstract: The self-moving robot may be abutted with functional modules and may include a functional module recognition mechanism and a control mechanism. The control mechanism regulates an operating parameter or an operating mode of the self-moving robot according to the type of the functional module recognized by the recognition mechanism. Due to the utilization of the self-moving robot and the control method thereof provided by the present disclosure, parameters of the sensor and the self-walking speed and the like of the self-moving robot may be regulated according to actual situations under the condition that different modules are combined together to work, so that toppling or falling of the self-moving robot is reduced, and the safety of personnel and the robot itself may be improved.
10 EP3133457B1
OBSTACLE AVOIDANCE WALKING METHOD OF SELF-MOVING ROBOT
Publication/Patent Number: EP3133457B1 Publication Date: 2019-01-02 Application Number: 15779458.7 Filing Date: 2015-04-14 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: G05D1/02 Abstract: An obstacle avoidance walking method of a self-moving robot is provided, comprising: step 1000: the self-moving robot walks along the Y axis, sets the position at which obstacle is detect as an obstacle points and sets the coordinate of the point as a recorded point; step 2000: it is determined whether a recorded point, the Y-axis coordinate of which is within a numerical interval defined by the Y-axis coordinates of the current obstacle point and the previous obstacle point, has been stored previously; step 3000: if the determination result is positive, the recorded point is a turning point, and the self-moving robot walks along the X axis from the current obstacle point toward the turning point to the X-axis coordinate of the turning point, deletes the coordinate of the turning point, and the method returns to the step 1000 after performing traversal walking in an area between the turning point and the current obstacle point; and if the determination result is negative, the self-moving robot shifts for a displacement M1 along the X axis; step 4000: the self-moving robot walks along a reverse direction opposite to the former Y-axis walking direction, and the method returns to the step 1000; step 5000: the step 1000 to the step 4000 are repeated until Y-axis traversal walking is completed. The method accurately determines obstacle position and provides a concise walking path, and greatly improves the working efficiency of the self-moving robot.
11 US10304105B2
Shopping guide robot system and customer identification notification method of shopping guide robot
Publication/Patent Number: US10304105B2 Publication Date: 2019-05-28 Application Number: 15/109,629 Filing Date: 2014-12-31 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G06Q30/00 Abstract: A shopping guide robot system and an associated customer identification notification method. The system comprises the shopping guide robot and a background service terminal. A body of the shopping guide robot has a control unit, a movement unit, a communication module and a camera unit that collect images. The control unit has a customer identification module, which identifies a human face in an image and sends a first signal after determining that the human face is a customer. The control unit receives the first signal and sends a second signal to the background service terminal through the communication module. The background service terminal receives the second signal and sends a notification signal. In this manner, background personnel does not need to stare at a monitoring screen constantly to view whether a customer needs to be served. A background automatically prompts whether a customer enters or needs help, reducing work strength.
12 US10196103B2
Self-moving device and walking control method thereof
Publication/Patent Number: US10196103B2 Publication Date: 2019-02-05 Application Number: 15/126,549 Filing Date: 2015-03-17 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: G05D3/00 Abstract: The self-moving device comprises an outer frame (100), and a base body (200) rotatably connected on the outer frame (100). The base body (200) includes a control unit and a walking unit. A fixing pin (300) is connected to the base body (200). One end of the fixing pin (300) is movably fixed to the base body (200), and the other end is a pin head (320). When the pin head (320) is engaged within the pin slot (110), the base body (200) is connected to and engaged with the outer frame (100). When the pin head (320) is separated from the pin slot (110), the base body (200) rotates with respect to the outer frame (100). When the detection mechanism detects that the pin head (320) is engaged and fixed within the pin slot (110), the control unit controls the walking unit.
13 EP3469974A1
COOPERATIVE WORK SYSTEM FORMED BY MOTHER ROBOT AND CHILD ROBOT, AND OPERATION METHOD THEREOF
Publication/Patent Number: EP3469974A1 Publication Date: 2019-04-17 Application Number: 17809754.9 Filing Date: 2017-06-08 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: A47L11/24 Abstract: The present invention provides a mother-child robot cooperative work system and a work method thereof. The work system includes a mother robot (MR) and a charging base (1000), in which the mother robot is provided with a control unit and a work unit. The system also includes a child robot (CR) communicatively coupled to the mother robot. The mother robot performs cleaning for a work area (S) under the control of the control unit, and recognizes a cleanable area and an assisted cleaning area during a cleaning process. After cleaning work in the cleanable area is completed, the control unit in the mother robot controls the child robot to cooperatively complete the cleaning work in the assisted cleaning area. The mother robot is provided with a child robot pose sensing unit. The unit inputs child robot pose information to the control unit; and the control unit controls the child robot to act as required. In the present invention, the mother robot is configured to effectively position the child robot and control the child robot to participate in current work or not. The work of the mother robot and the child robot is reasonably distributed to overcome the height barrier of a work environment. The system has simplified structure and high work efficiency.
14 US10175357B2
Laser range finding sensor and range finding method thereof
Publication/Patent Number: US10175357B2 Publication Date: 2019-01-08 Application Number: 15/038,328 Filing Date: 2014-11-21 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: G01C3/08 Abstract: Disclosed are a laser range finding sensor and a range finding method therefor. The laser range finding sensor comprises a motor (120), a control box (130), and a coded disc (150). Under a drive of the motor, the control box rotates relative to the coded disc. The coded disc comprises a plurality of range finding teeth (151). The control box comprises a range finding unit (142), a detection portion (144), and a control unit (140). The detection portion comprises a light transmitter (1440) and a light receiver (1441) disposed opposite to each other. The control box rotates relative to the coded disc, so that the range finding teeth pass between respective positions of the light transmitter and the light receiver. The control box rotates under the drive of the motor for scanning and distance measuring and records a measured distance value in the control unit. The control unit automatically calculates a corresponding local rotation speed when the coded disc rotates by a set angle. The control unit is connected to a rotation speed feedback and adjustment unit configured to adjust the rotation speed of the motor so that the control box is rotated at a constant speed. The laser range finding sensor has a simple structure, needs a low cost, and has a high sensitivity.
15 US10423160B2
Local obstacle avoidance walking method of self-moving robot
Publication/Patent Number: US10423160B2 Publication Date: 2019-09-24 Application Number: 15/304,032 Filing Date: 2015-04-14 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: G05D1/02 Abstract: A local obstacle avoidance walking method of a self-moving robot, comprising: step 100: the self-moving robot walks in a first direction, and when an obstacle is detected, the self-moving robot translates for a displacement M1 in a second direction perpendicular to the first direction, and step 200: determining whether the self-moving robot is able to continue to walk in the first direction after the translation, if a result of the determination is positive, the self-moving robot continues to walk in the first direction, and if the result of the determination is negative, the self-moving robot acts according to a preset instruction. The method enables the robot to accurately avoid a local obstacle, provides a concise walking route, shortens the determination time, and improves the working efficiency of the self-moving robot.
16 US2019064832A1
SELF-PROPELLED ROBOT PATH PLANNING METHOD, SELF-PROPELLED ROBOT AND STORAGE MEDIUM
Publication/Patent Number: US2019064832A1 Publication Date: 2019-02-28 Application Number: 16/112,673 Filing Date: 2018-08-25 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G05D1/02 Abstract: Provided are a self-propelled robot path planning method, a self-propelled robot and a storage medium. The method may include, a self-propelled robot walks in a to-be-operated space to acquire information of obstacles at different heights and generates a multilayer environmental map of the to-be-operated space. The method may also include information in the multilayer environmental map is synthetically processed to obtain synthetically processed data. Additionally, the method may include a walking path for the self-propelled robot is planned according to the synthetically processed data.
17 US2019302778A1
SELF-MOVING ROBOT, CONTROL METHOD THEREOF AND COMBINED ROBOT COMPRISING SELF-MOVING ROBOT
Publication/Patent Number: US2019302778A1 Publication Date: 2019-10-03 Application Number: 16/303,096 Filing Date: 2017-05-19 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: G05D1/02 Abstract: The self-moving robot may be abutted with functional modules and may include a functional module recognition mechanism and a control mechanism. The control mechanism regulates an operating parameter or an operating mode of the self-moving robot according to the type of the functional module recognized by the recognition mechanism. Due to the utilization of the self-moving robot and the control method thereof provided by the present disclosure, parameters of the sensor and the self-walking speed and the like of the self-moving robot may be regulated according to actual situations under the condition that different modules are combined together to work, so that toppling or falling of the self-moving robot is reduced, and the safety of personnel and the robot itself may be improved.
18 EP3460404A1
AUTONOMOUS MOBILE ROBOT, MAP BUILDING METHOD, AND MAP CALLING METHOD FOR COMBINED ROBOT
Publication/Patent Number: EP3460404A1 Publication Date: 2019-03-27 Application Number: 17798770.8 Filing Date: 2017-05-19 Inventor: Tang jinju   Assignee: Ecovacs Robotics Co., Ltd.   IPC: G01C21/32 Abstract: The self-moving robot includes a robot body (100) and a control center disposed on the body. The body includes a first distance sensor (101) disposed in a horizontal direction used to collect two-dimensional map information and a second distance sensor (102) disposed in a vertical direction used to collect spatial height information. While obtaining the two-dimensional map information of a working surface, the control center overlays the spatial height information to the two-dimensional map information and obtains three-dimensional map information of a working region. Through the distance sensors disposed on the self-moving robot, based on the generated two-dimensional map, the spatial height information is overlaid and the three-dimensional map information is generated. In a combined state, the robot invokes and plans a walking path in the working region based on the three-dimensional map, thereby helping to ensure smooth, safe and efficient operation of the combined robot in a complex environment.
19 WO2019037668A1
SELF-MOVING ROBOT AND TRAVEL METHOD THEREOF, AND OBSTACLE DISTRIBUTION DISPLAY METHOD
Publication/Patent Number: WO2019037668A1 Publication Date: 2019-02-28 Application Number: 2018101119 Filing Date: 2018-08-17 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: B25J9/16 Abstract: A self-moving robot and a travel method thereof, and an obstacle distribution display method. The self-moving robot comprises a robot body (10) and a control unit disposed on the robot body. The robot body further comprises a multi-layer map information acquisition device (20) for acquiring information about obstacles at different heights in a working environment. The control unit is used for receiving and processing the information about the obstacles at the different heights, and establishing a multi-layer map. The multi-layer map information acquisition device comprises a plurality of distance sensors, and the plurality of distance sensors are at different heights. The multi-layer map acquisition device (20) ensures that a self-moving robot travels smoothly, safely, and efficiently in a complex environment, reduces a storage load and a computation load on the control unit, and reduces production cost while ensuring that obstacles are evaded.
20 WO2019128441A1
METHOD FOR CONTROLLING CLEANING ROBOT
Publication/Patent Number: WO2019128441A1 Publication Date: 2019-07-04 Application Number: 2018112315 Filing Date: 2018-10-29 Inventor: Tang jinju   Assignee: ECOVACS ROBOTICS CO., LTD.   IPC: A47L9/00 Abstract: Provided is a method for controlling a cleaning robot. The cleaning robot contains a top portion and a bottom portion, and further comprises a vacuumizing assembly (11) for extracting air, wherein at least two columns of driving wheels (12) are arranged at the bottom portion of the cleaning robot and are respectively arranged at two sides of the bottom portion of the cleaning robot, and the cleaning robot comprises a cleaning mode for cleaning the driving wheels (12). The control method comprises: a cleaning robot enters a cleaning mode; and after the cleaning robot enters the cleaning mode, a vacuumizing assembly (11) is turned off or kept in a turn-off state, and at least one column of driving wheels (12) is started and rotated. Therefore, after the cleaning robot enters the cleaning mode, the driving wheels (12) can be rotated and the vacuumizing assembly (11) stops working, so as to clean the driving wheels (12), so that the cleaning robot is more convenient, quicker and more humanized to use.