JP2018202038A - 自律型電気掃除装置 - Google Patents
自律型電気掃除装置 Download PDFInfo
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- 238000004140 cleaning Methods 0.000 claims abstract description 316
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- 238000009408 flooring Methods 0.000 description 23
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
- A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2831—Motor parameters, e.g. motor load or speed
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2847—Surface treating elements
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- 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
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- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
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Abstract
【解決手段】吸込口11に吸込負圧を生じさせる電動送風機13と、吸込口11に配置される回転清掃体15と、回転清掃体15を駆動させる回転清掃体駆動部16と、掃除機本体12を支える駆動輪17と、駆動輪17を駆動させる駆動輪駆動部18と、被掃除面の種類を検知する被掃除面検知部27と、被掃除面の種類に基づいて吸込負圧、回転清掃体15の回転数、回転清掃体15の回転方向、および駆動輪17の回転数のいずれかの制御量を変更するロボット制御部19と、を備え、被掃除面検知部27は、制御量の変更対象よりも前方の検知位置で被掃除面の種類を検知し、ロボット制御部19は、制御量の変更対象が被掃除面検知部27の検知位置に達したときに制御量を変更する。
【選択図】 図3
Description
Claims (16)
- 被掃除面を自律して移動可能であり、底面に吸込口を有する掃除機本体と、
前記吸込口に吸い込み負圧を生じさせる電動送風機と、
前記吸込口に配置される回転清掃体と、
前記回転清掃体を駆動させる回転清掃体駆動部と、
前記掃除機本体を移動可能に支える駆動輪と、
前記駆動輪を駆動させる駆動輪駆動部と、
前記被掃除面の種類を検知する被掃除面検知部と、
前記被掃除面検知部が検知した前記被掃除面の種類に基づいて前記吸込口に作用する吸込負圧の強弱、前記回転清掃体の回転数の大小、前記回転清掃体の回転方向、および前記駆動輪の回転数の大小の少なくともいずれかの制御量を変更する制御部と、を備え、
前記被掃除面検知部は、前記吸込口、前記回転清掃体、および前記駆動輪のうち制御量の変更対象よりも前方の検知位置で前記被掃除面の種類を検知し、
前記制御部は、制御量の変更対象が前記被掃除面検知部の検知位置との距離の差分を移動したときに前記変更対象の制御量を変更する自律型電気掃除装置。 - 前記被掃除面検知部は、前記掃除機本体よりも前方で前記被掃除面の種類を検知する請求項1に記載の自律型電気掃除装置。
- 前記被掃除面検知部は、前記掃除機本体の真下で前記被掃除面の種類を検知する請求項1に記載の自律型電気掃除装置。
- 前記被掃除面検知部は、前記検知位置の画像を取得するイメージセンサ部を有している請求項1から3のいずれか1項に記載の自律型電気掃除装置。
- 前記被掃除面検知部は、前記検知位置の赤外線を検知する赤外線センサ部を有している請求項1から3のいずれか1項に記載の自律型電気掃除装置。
- 前記制御部は、前記吸込口が対面している現被掃除面の種類と前記被掃除面検知部が検知する次期被掃除面の種類とが異なる場合には、前記電動送風機の回転数を変更する請求項1から5のいずれか1項に記載の自律型電気掃除装置。
- 前記制御部は、前記回転清掃体が接している現被掃除面の種類と前記被掃除面検知部が検知する次期被掃除面の種類とが異なる場合には、前記回転清掃体駆動部の回転数および回転方向の少なくともいずれかを変更する請求項1から6のいずれか1項に記載の自律型電気掃除装置。
- 前記制御部は、前記駆動輪が接している現被掃除面の種類と前記被掃除面検知部が検知する次期被掃除面の種類とが異なる場合には、前記駆動輪駆動部の回転数を変更する請求項1から7のいずれか1項に記載の自律型電気掃除装置。
- 前記制御部は、前記吸込口が対面している現被掃除面に比べて前記被掃除面検知部が検知する次期被掃除面の凹凸が粗い場合には、前記電動送風機の回転数をより高回転に変更する請求項6に記載の自律型電気掃除装置。
- 前記制御部は、前記吸込口が対面している現被掃除面に比べて前記被掃除面検知部が検知する次期被掃除面の凹凸が細かい場合には、前記電動送風機の回転数をより低回転に変更する請求項6または9に記載の自律型電気掃除装置。
- 前記制御部は、前記回転清掃体が接している現被掃除面に比べて前記被掃除面検知部が検知する次期被掃除面の摩擦係数が大きい場合には、前記回転清掃体駆動部の回転数をより高回転に変更する請求項7に記載の自律型電気掃除装置。
- 前記制御部は、前記回転清掃体が接している現被掃除面に比べて前記被掃除面検知部が検知する次期被掃除面の摩擦係数が小さい場合には、前記回転清掃体駆動部の回転数をより低回転に変更する請求項7または11に記載の自律型電気掃除装置。
- 前記制御部は、前記被掃除面検知部が検知する次期被掃除面に前記回転清掃体が達したときに前記回転清掃体の回転方向を反転させる請求項7、11および12のいずれか1項に記載の自律型電気掃除装置。
- 前記制御部は、前記駆動輪が接している現被掃除面に比べて前記被掃除面検知部が検知する次期被掃除面の摩擦係数が大きい場合には、前記駆動輪駆動部の回転数をより低回転に変更する請求項8に記載の自律型電気掃除装置。
- 前記制御部は、前記駆動輪が接している現被掃除面に比べて前記被掃除面検知部が検知する次期被掃除面の摩擦係数が小さい場合には、前記駆動輪体駆動部の回転数をより高回転に変更する請求項8または14に記載の自律型電気掃除装置。
- 前記掃除機本体の底面に設けられ、前記吸込口の左右それぞれの側方に配置される左右一対の第二回転清掃体と、
それぞれの前記第二回転清掃体を駆動させる左右一対の第二回転清掃体駆動部と、を備え、
前記制御部は、前記被掃除面検知部が検知する次期被掃除面に前記第二回転清掃体が達したときに前記第二回転清掃体の回転数の大小、前記第二回転清掃体の回転方向、および前記第二回転清掃体の昇降位置の少なくともいずれかを変更する請求項1から15のいずれか1項に記載の自律型電気掃除装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2017113522A JP7264584B2 (ja) | 2017-06-08 | 2017-06-08 | 自律型電気掃除装置 |
CN201880037013.2A CN110719746A (zh) | 2017-06-08 | 2018-06-08 | 自主型电动吸尘装置 |
US16/615,491 US20200205628A1 (en) | 2017-06-08 | 2018-06-08 | Autonomous electrical cleaning apparatus |
PCT/JP2018/021999 WO2018225852A1 (ja) | 2017-06-08 | 2018-06-08 | 自律型電気掃除装置 |
GB1917128.9A GB2577008A (en) | 2017-06-08 | 2018-06-08 | Autonomous electrical cleaning apparatus |
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JP2017113522A JP7264584B2 (ja) | 2017-06-08 | 2017-06-08 | 自律型電気掃除装置 |
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JP2018202038A true JP2018202038A (ja) | 2018-12-27 |
JP7264584B2 JP7264584B2 (ja) | 2023-04-25 |
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JP (1) | JP7264584B2 (ja) |
CN (1) | CN110719746A (ja) |
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CN111436863B (zh) * | 2019-01-17 | 2022-04-22 | 添可智能科技有限公司 | 清洁机 |
US11937766B2 (en) * | 2019-09-20 | 2024-03-26 | Sharkninja Operating Llc | Robotic cleaner having acoustic surface type sensor |
JP2022068680A (ja) * | 2020-10-22 | 2022-05-10 | 東芝ライフスタイル株式会社 | 清掃具及び電気掃除機 |
US12001216B2 (en) * | 2021-05-31 | 2024-06-04 | Ubkang (Qingdao) Technology Co., Ltd. | Carpet detection method, movement control method, and mobile machine using the same |
DE102021206579B4 (de) * | 2021-06-25 | 2024-05-02 | BSH Hausgeräte GmbH | Verfahren zur verbesserten reinigung eines räumlich begrenzten bereichs |
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- 2018-06-08 GB GB1917128.9A patent/GB2577008A/en not_active Withdrawn
- 2018-06-08 CN CN201880037013.2A patent/CN110719746A/zh active Pending
- 2018-06-08 US US16/615,491 patent/US20200205628A1/en not_active Abandoned
- 2018-06-08 WO PCT/JP2018/021999 patent/WO2018225852A1/ja active Application Filing
Patent Citations (9)
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JP2003047579A (ja) * | 2001-08-06 | 2003-02-18 | Toshiba Tec Corp | 掃除装置 |
JP2007149088A (ja) * | 2005-11-23 | 2007-06-14 | Samsung Electronics Co Ltd | 移動ロボットの自己位置認識方法及び装置 |
JP2007309921A (ja) * | 2006-05-17 | 2007-11-29 | Samsung Electronics Co Ltd | 構造光を用いた物体検出方法及びこれを用いたロボット |
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JP7264584B2 (ja) | 2023-04-25 |
GB2577008A (en) | 2020-03-11 |
GB201917128D0 (en) | 2020-01-08 |
US20200205628A1 (en) | 2020-07-02 |
CN110719746A (zh) | 2020-01-21 |
WO2018225852A1 (ja) | 2018-12-13 |
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