Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for monitoring extended reality spaces. One of the methods includes selecting, from a physical space at a property, a first available portion of the physical space for representing an extended reality environment; causing presentation of a first portion of the extended reality environment at the first available portion of the physical space; predicting, using sensor data generated from one or more sensors at the property, that the first available portion of the physical space will likely be interfered with; in response to predicting that the first available portion of the physical space will likely be interfered with, selecting, from the plurality of available portions of the physical space, a second available portion for representing the environment; and causing presentation of a second portion of the extended reality environment at the second available portion of the physical space.

Provided is a mobile apparatus obstacle detection system (100), a mobile apparatus (10) carrying the obstacle detection system (100), and a ground-sweeping robot. The obstacle detection system (100) comprises: a structured light projection module (102) configured to project structured light onto the path of advance of the mobile apparatus (10), the structured light comprising at least one lateral detection line in the horizontal direction and at least one longitudinal detection line in the vertical direction; a camera module (103) configured to capture an image of the structured light (105); and an image processing module (104) configured to calculate, according to the image of the structured light (105), the distances and positions of obstacles (106, 107, 108) on the path of advance.

The present disclosure discloses a method and system for controlling an autonomous mobile robot, and the autonomous mobile robot. The method includes: when cleaning in a current region, recognizing, by the autonomous mobile robot, information of a line object appearing in a cleaning path, where the information at least includes one of pose information of the line object, a length of the line object, and a cross-sectional radius of the line object; and determining a target control strategy matched with the recognized information from preset control strategies, and causing the autonomous mobile robot to execute the target control strategy.

The present disclosure relates to a method of controlling a robot cleaner including a pair of rotary plates having lower sides to which mops facing a floor surface are coupled, the robot cleaner being configured to move by rotating the pair of rotary plates, the method including: a region setting step of setting a cleaning region on the floor surface; and a movement step of moving the robot cleaner in the cleaning region, in which the region setting step divides the cleaning region into a plurality of divided regions, and the plurality of divided regions at least partially overlaps one another, such that it is possible to clean an entire cleaning region and repeatedly clean a particular region.

The present disclosure relates to a method of controlling a robot cleaner including a pair of rotary plates having lower sides to which mops facing a floor surface are coupled, the robot cleaner being configured to move by rotating the pair of rotary plates, the method including: a first forward movement step of moving the robot cleaner forward from a starting point toward a predetermined target point; a first rotation step of rotating the robot cleaner; a second forward movement step of moving the robot cleaner forward after the first rotation step; and a second rotation step of rotating the robot cleaner after the second forward movement step, such that the floor surface may be repeatedly cleaned only by the forward movement and the rotation.

A method of operating a robotic cleaning device over a surface to be cleaned, the method being performed by the robotic cleaning device. The method includes: following a boundary of a first object while registering path markers including positional information at intervals on the surface; tracing previously registered path markers at an offset upon encountering one or more of the previously registered path markers; and switching from tracing the previously registered path markers to following an edge of a second object upon detection of the second object.

A method of managing a plurality of washrooms in a facility for servicing by service personnel and, more particularly, for establishing servicing operations which provide for service of at least selected of the dispensers before their consumable product supply falls below a pre-selected refill value.

An example robotic arm includes a base linkage and a first end effector connected to a second end of the base linkage through a first rotational joint. The robotic arm additionally includes a control arm. The control arm includes a first linkage and a second linkage, each having a first end and a second end. The first end of the first linkage is connected to the second end of the base linkage through a second rotational joint. The first end of the second linkage is connected to the second end of the first linkage through a third rotational joint. The control arm also includes a second end effector connected to the second end of the second linkage through a fourth rotational joint. The first, second, third, and fourth rotational joints are configured to rotate in or parallel to a first plane.

An example robotic device includes a mobile base and a base linkage. The base linkage has a first end and a second end where the first end is connected to the mobile base. The robotic device also includes a first end effector connected to the second end of the base linkage. The first end effector includes a shovel tool. The robotic device additionally includes an actuated control arm having a first end and a second end. The first end of the actuated control arm is connected to the second end of the base linkage. The robotic device further includes a second end effector connected to the second end of the actuated control arm. The second end effector includes a sweeping tool. The actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.