AUTOMATIC CLEANING APPARATUS, AUTOMATIC CLEANING SYSTEM AND METHOD FOR CONTROLLING OF SYSTEM (VERSIONS) Russian patent published in 2004 - IPC

FIELD: cleaning equipment. SUBSTANCE: automatic cleaning apparatus has drive unit for wheel driving, upper camera mounted on main case and adapted for shooting of upper image in direction perpendicular to movement direction, and drive unit controller for providing movement of automatic cleaning apparatus in cleaning zone in accordance with set movement pattern and for correcting of movement path through analyzing of image shot by upper camera. Automatic cleaning system has drive unit for wheel driving, automatic cleaning apparatus with upper camera mounted on main case and adapted for shooting of upper image in direction perpendicular to movement direction, and remote controller for wireless communication with cleaning apparatus. Remote controller is designed for controlling automatic cleaning apparatus to provide movement thereof in cleaning zone in accordance with set movement pattern and for correcting of movement path by analyzing of image transmitted after shooting by means of upper camera. Method involves creating image chart by using image shot with the help of upper camera by moving of automatic cleaning apparatus in cleaning zone in accordance with set movement pattern; determining position of automatic cleaning apparatus by comparing image of recorded chart with current image shot by upper camera; using data on said position for calculating of movement path to target position upon delivery of cleaning signal; moving automatic cleaning apparatus in accordance with calculated movement path and correcting movement path by analyzing image shot by upper camera. EFFECT: increased efficiency in controlling of cleaning operation by correcting movement path and increased precision of data on current position of automatic cleaning apparatus. 17 cl, 9 dwg