JP2015132892A - 自走式機器 - Google Patents
自走式機器 Download PDFInfo
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- JP2015132892A JP2015132892A JP2014002707A JP2014002707A JP2015132892A JP 2015132892 A JP2015132892 A JP 2015132892A JP 2014002707 A JP2014002707 A JP 2014002707A JP 2014002707 A JP2014002707 A JP 2014002707A JP 2015132892 A JP2015132892 A JP 2015132892A
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- vacuum cleaner
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- 230000005540 biological transmission Effects 0.000 claims description 99
- 239000003550 marker Substances 0.000 claims description 35
- 230000008859 change Effects 0.000 claims description 4
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 24
- 239000000428 dust Substances 0.000 description 17
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000001514 detection method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 229920003002 synthetic resin Polymers 0.000 description 2
- 239000000057 synthetic resin Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
11 走行体である電気掃除機
12 マーカである充電器
15 本体ケース
18 駆動輪
19 モータ
24 走行体側送信手段である第1送信手段
25 走行体側受信手段である第1受信手段
26 送信制御手段としてのモータ制御手段である第1制御手段
27 二次電池
44 マーカ側受信手段である第2受信手段
45 マーカ側送信手段である第2送信手段
Claims (5)
- 走行体と、
この走行体を誘導するマーカとを具備し、
前記走行体は、
本体ケースと、
この本体ケースに回転可能に設けられ、この本体ケースを走行可能とする駆動輪と、
この駆動輪を回転駆動させるモータと、
走行体側識別情報を含む信号を所定幅の指向性で送信する走行体側送信手段と、
信号を前記走行体側送信手段の指向性よりも広い指向性で受信可能な走行体側受信手段と、
前記走行体側送信手段を制御して複数の方向に向けて信号を送信させる送信制御手段と、
前記モータの駆動を制御するモータ制御手段とを備え、
前記マーカは、
前記走行体側識別情報を含む信号を受信するマーカ側受信手段と、
このマーカ側受信手段により前記走行体側識別情報を含む信号を受信したときに、マーカ側識別情報を含む信号を送信するマーカ側送信手段とを備え、
前記モータ制御手段は、前記走行体側受信手段により前記マーカ側識別情報を含む信号を受信したときに、前記走行体識別情報を含む信号を送信した方向に基づいて前記本体ケースを走行させるように前記モータの駆動を制御する
ことを特徴とした自走式機器。 - 送信制御手段は、モータ制御手段であり、モータの駆動を制御して本体ケースの方向を変えることにより走行体側送信手段による信号の送信と走行体側受信手段による信号の受信とを複数の方向で順次行わせる
ことを特徴とした請求項1記載の自走式機器。 - 走行体側送信手段および走行体側受信手段は、本体ケースにそれぞれ複数配置され、
送信制御手段は、前記走行体側送信手段および前記走行体側受信手段により前記本体ケースの周囲に複数の方向へと信号の送受信を順次行わせる
ことを特徴とした請求項1記載の自走式機器。 - マーカ側識別情報を含む信号を走行体側受信手段が所定以上の複数の方向から受信したときに、走行体側送信手段の出力強度と前記走行体側受信手段の受信感度との少なくともいずれか一方を低下させる
ことを特徴とした請求項2または3記載の自走式機器。 - 走行体は、二次電池を備えた電気掃除機であり、
マーカは、前記電気掃除機が接続可能で、接続された前記電気掃除機の前記二次電池を充電する充電器である
ことを特徴とした請求項1ないし4いずれか一記載の自走式機器。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014002707A JP6453539B2 (ja) | 2014-01-09 | 2014-01-09 | 自走式機器 |
PCT/JP2015/050490 WO2015105178A1 (ja) | 2014-01-09 | 2015-01-09 | 自走式機器 |
CN201580004031.7A CN105900032B (zh) | 2014-01-09 | 2015-01-09 | 自走式设备 |
CA2935641A CA2935641C (en) | 2014-01-09 | 2015-01-09 | Self-propelled device |
US15/109,354 US10048694B2 (en) | 2014-01-09 | 2015-01-09 | Self-propelled device |
KR1020167009274A KR101910164B1 (ko) | 2014-01-09 | 2015-01-09 | 자율 주행식 기기 |
EP15735283.2A EP3093728B1 (en) | 2014-01-09 | 2015-01-09 | Self-propelled device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014002707A JP6453539B2 (ja) | 2014-01-09 | 2014-01-09 | 自走式機器 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018153969A Division JP6633152B2 (ja) | 2018-08-20 | 2018-08-20 | 自走式機器 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015132892A true JP2015132892A (ja) | 2015-07-23 |
JP6453539B2 JP6453539B2 (ja) | 2019-01-16 |
Family
ID=53524001
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014002707A Active JP6453539B2 (ja) | 2014-01-09 | 2014-01-09 | 自走式機器 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10048694B2 (ja) |
EP (1) | EP3093728B1 (ja) |
JP (1) | JP6453539B2 (ja) |
KR (1) | KR101910164B1 (ja) |
CN (1) | CN105900032B (ja) |
CA (1) | CA2935641C (ja) |
WO (1) | WO2015105178A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101473870B1 (ko) * | 2009-06-19 | 2014-12-18 | 삼성전자 주식회사 | 청소장치 |
EP3139806B1 (de) * | 2014-05-08 | 2019-07-17 | Alfred Kärcher SE & Co. KG | Selbstfahrendes und selbstlenkendes bodenreinigungsgerät und verfahren zum reinigen einer bodenfläche |
TWM521997U (zh) * | 2015-10-13 | 2016-05-21 | Lumiplus Technology Suzhou Co Ltd | 自走裝置之防掉落系統 |
CN115089055B (zh) | 2018-07-20 | 2024-02-13 | 尚科宁家运营有限公司 | 用于机器人清洁器的对接站和清洁*** |
CN109445429A (zh) * | 2018-10-15 | 2019-03-08 | 电子科技大学 | 自动行驶设备的窄通道进入控制方法 |
CN115969287B (zh) * | 2023-03-21 | 2023-09-26 | 科大讯飞股份有限公司 | 清洁机器人及其电量管理方法、装置及存储介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
US5165064A (en) * | 1991-03-22 | 1992-11-17 | Cyberotics, Inc. | Mobile robot guidance and navigation system |
JP2000299364A (ja) * | 1999-04-12 | 2000-10-24 | Murata Mach Ltd | 光データ伝送装置及びこれを用いた光データ伝送システム |
JP2006244020A (ja) * | 2005-03-02 | 2006-09-14 | Sanyo Electric Co Ltd | ロボット充電誘導システム |
JP2007213180A (ja) * | 2006-02-08 | 2007-08-23 | Figla Co Ltd | 移動体システム |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3196355B2 (ja) | 1992-10-20 | 2001-08-06 | 松下電器産業株式会社 | 自走式掃除機 |
JP3344079B2 (ja) | 1994-06-01 | 2002-11-11 | 松下電器産業株式会社 | 自走式掃除機 |
US6532404B2 (en) * | 1997-11-27 | 2003-03-11 | Colens Andre | Mobile robots and their control system |
EP1547361B1 (en) * | 2002-09-13 | 2016-04-06 | iRobot Corporation | A navigational control system for a robotic device |
US7320149B1 (en) | 2002-11-22 | 2008-01-22 | Bissell Homecare, Inc. | Robotic extraction cleaner with dusting pad |
KR100492590B1 (ko) * | 2003-03-14 | 2005-06-03 | 엘지전자 주식회사 | 로봇의 자동충전 시스템 및 복귀방법 |
KR100544480B1 (ko) * | 2004-05-12 | 2006-01-24 | 삼성광주전자 주식회사 | 로봇 청소기 |
JP2006236109A (ja) * | 2005-02-25 | 2006-09-07 | Sanyo Electric Co Ltd | ロボットの自動充電システム。 |
KR100738890B1 (ko) * | 2005-07-22 | 2007-07-12 | 엘지전자 주식회사 | 이동로봇을 이용한 홈 네트워킹 시스템 |
KR20070099359A (ko) * | 2006-04-04 | 2007-10-09 | 삼성전자주식회사 | 로봇청소기와 도킹 스테이션을 구비하는 로봇청소기 시스템 |
US20080004751A1 (en) * | 2006-06-28 | 2008-01-03 | Samsung Electronics Co., Ltd. | Robot cleaner system and method of controlling the same |
JP2008102698A (ja) | 2006-10-18 | 2008-05-01 | Funai Electric Co Ltd | 自走式装置充電システム |
JP2008181177A (ja) | 2007-01-23 | 2008-08-07 | Matsushita Electric Ind Co Ltd | 充電池搭載移動体の充電装置 |
GB0909148D0 (en) * | 2009-05-28 | 2009-07-01 | F Robotics Acquisitions Ltd | Localisation system |
-
2014
- 2014-01-09 JP JP2014002707A patent/JP6453539B2/ja active Active
-
2015
- 2015-01-09 EP EP15735283.2A patent/EP3093728B1/en active Active
- 2015-01-09 CA CA2935641A patent/CA2935641C/en not_active Expired - Fee Related
- 2015-01-09 US US15/109,354 patent/US10048694B2/en not_active Expired - Fee Related
- 2015-01-09 CN CN201580004031.7A patent/CN105900032B/zh active Active
- 2015-01-09 WO PCT/JP2015/050490 patent/WO2015105178A1/ja active Application Filing
- 2015-01-09 KR KR1020167009274A patent/KR101910164B1/ko active IP Right Grant
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
US5165064A (en) * | 1991-03-22 | 1992-11-17 | Cyberotics, Inc. | Mobile robot guidance and navigation system |
JP2000299364A (ja) * | 1999-04-12 | 2000-10-24 | Murata Mach Ltd | 光データ伝送装置及びこれを用いた光データ伝送システム |
JP2006244020A (ja) * | 2005-03-02 | 2006-09-14 | Sanyo Electric Co Ltd | ロボット充電誘導システム |
JP2007213180A (ja) * | 2006-02-08 | 2007-08-23 | Figla Co Ltd | 移動体システム |
Also Published As
Publication number | Publication date |
---|---|
US20160324386A1 (en) | 2016-11-10 |
CA2935641A1 (en) | 2015-07-16 |
US10048694B2 (en) | 2018-08-14 |
EP3093728B1 (en) | 2020-07-01 |
KR20160053997A (ko) | 2016-05-13 |
CA2935641C (en) | 2020-06-02 |
JP6453539B2 (ja) | 2019-01-16 |
KR101910164B1 (ko) | 2018-10-19 |
CN105900032A (zh) | 2016-08-24 |
EP3093728A1 (en) | 2016-11-16 |
CN105900032B (zh) | 2019-06-28 |
WO2015105178A1 (ja) | 2015-07-16 |
EP3093728A4 (en) | 2017-10-11 |
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