JP4277214B2 - 自走式掃除機 - Google Patents
自走式掃除機 Download PDFInfo
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- JP4277214B2 JP4277214B2 JP2004345560A JP2004345560A JP4277214B2 JP 4277214 B2 JP4277214 B2 JP 4277214B2 JP 2004345560 A JP2004345560 A JP 2004345560A JP 2004345560 A JP2004345560 A JP 2004345560A JP 4277214 B2 JP4277214 B2 JP 4277214B2
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- main body
- traveling
- self
- lifting
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- 239000000428 dust Substances 0.000 claims description 42
- 230000005484 gravity Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 description 22
- 230000007246 mechanism Effects 0.000 description 20
- 238000003860 storage Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 238000012856 packing Methods 0.000 description 6
- 239000000725 suspension Substances 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052987 metal hydride Inorganic materials 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- PXHVJJICTQNCMI-UHFFFAOYSA-N nickel Substances [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 1
- -1 nickel metal hydride Chemical class 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005549 size reduction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
Landscapes
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
2a,2b 走行用モータ
4a,4b 駆動輪
5a,5b 減速機
6 コントローラ
7a,7b サスペンション
8a,8b ヒンジピン
10a,10b,10c,10d 赤外線センサ
12a,12b 段差センサ
14 充電端子
19 ころ
20 集塵ファン
21 集塵ケース
22 蓄電池
23 側面カバー
27 上面カバー
30 吸口体
45 ベース
46 操作パネル
60a,60b カム
61 カムシャフト
62 歯車
64 カム駆動モータ
65 接触センサ
69 電気コード
76 赤外線センサ
Claims (3)
- 本体と、該本体を床面上で走行させる走行手段と、前記本体の周辺物体を認識して前記本体の移動方向を前記走行手段に指令する制御手段と、床面上の塵芥を吸い込んで蓄える集塵手段とを備えた自走式掃除機において、
前記本体の進行方向の前方を前記走行手段を基点として床面から持ち上げる持ち上げ手段を備え、
前記走行手段は、左右に独立して回転制御される駆動輪を備えるとともに、該駆動輪の回転軸は、前記本体に対して天地方向に可動に取り付けられ、
前記本体は前記駆動輪の回転軸よりも進行方向の後方に重心を配置し、
前記制御手段は、走行中前記本体の前方床面上の物体を検出すると前記持ち上げ手段を動作させて前記駆動輪の回転軸を前記本体に対して下方に変位させ、前記本体の底面後端が前記物体に達する前に前記持ち上げ手段を動作させて前記駆動輪の回転軸を前記本体に対して上方に変位させるように制御することを特徴とする自走式掃除機。 - 前記本体の上方の物体を認識する上方物体認識手段を備え、該上方物体認識手段が前記上方の物体を認識した場合、前記持ち上げ手段が前記本体前方を持ち上げる条件を満たしたときであっても、前記持ち上げ手段により前記本体前方の持ち上げを行わないか、又は持ち上げ高さを制限することを特徴とする請求項1に記載の自走式掃除機。
- 前記本体の前方底面には、前方に対して上方向に傾斜した傾斜面が形成され、該傾斜面には、接触式又は光学式のセンサが少なくとも一つ備えられていることを特徴とする請求項1又は2に記載の自走式掃除機。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004345560A JP4277214B2 (ja) | 2004-11-30 | 2004-11-30 | 自走式掃除機 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004345560A JP4277214B2 (ja) | 2004-11-30 | 2004-11-30 | 自走式掃除機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006155274A JP2006155274A (ja) | 2006-06-15 |
JP4277214B2 true JP4277214B2 (ja) | 2009-06-10 |
Family
ID=36633494
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004345560A Active JP4277214B2 (ja) | 2004-11-30 | 2004-11-30 | 自走式掃除機 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP4277214B2 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013047039A1 (ja) * | 2011-09-29 | 2013-04-04 | シャープ株式会社 | 掃除ロボット |
KR20200007490A (ko) * | 2018-07-13 | 2020-01-22 | 주식회사 아이포바인 | 로봇 청소기용 구동휠 높이조절장치 |
JP2020108867A (ja) * | 2016-01-22 | 2020-07-16 | シャープ株式会社 | ロボット掃除機 |
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US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
US8386081B2 (en) | 2002-09-13 | 2013-02-26 | Irobot Corporation | Navigational control system for a robotic device |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
DE112005000738T5 (de) | 2004-03-29 | 2007-04-26 | Evolution Robotics, Inc., Pasadena | Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen |
ATE536577T1 (de) | 2004-06-24 | 2011-12-15 | Irobot Corp | Fernbediente ablaufsteuerung und verfahren für eine autonome robotervorrichtung |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
DE602006014364D1 (de) | 2005-02-18 | 2010-07-01 | Irobot Corp | Autonomer oberflächenreinigungsroboter für nass- und trockenreinigung |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
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US7441298B2 (en) | 2005-12-02 | 2008-10-28 | Irobot Corporation | Coverage robot mobility |
EP2466411B1 (en) | 2005-12-02 | 2018-10-17 | iRobot Corporation | Robot system |
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US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
KR101529848B1 (ko) | 2007-05-09 | 2015-06-17 | 아이로보트 코퍼레이션 | 표면 처리 로봇 |
CN101816540A (zh) * | 2009-02-26 | 2010-09-01 | 乐金电子(天津)电器有限公司 | 一种吸尘器的跨动结构 |
KR101331706B1 (ko) * | 2009-06-30 | 2013-11-20 | 엘지전자 주식회사 | 로봇청소기 |
JP5647269B2 (ja) | 2010-02-16 | 2014-12-24 | アイロボット コーポレイション | 掃除機ブラシ |
JP6068823B2 (ja) * | 2012-04-27 | 2017-01-25 | シャープ株式会社 | 自走式掃除機 |
DE102012112402A1 (de) * | 2012-12-17 | 2014-06-18 | Vorwerk & Co. Interholding Gmbh | Anordnung zur Überwindung eines Verfahrhindernisses |
TW201427631A (zh) * | 2013-01-08 | 2014-07-16 | Uni Ring Tech Co Ltd | 自走式清潔裝置 |
GB201301578D0 (en) * | 2013-01-29 | 2013-03-13 | Dyson Technology Ltd | Mobile robot |
JP6189636B2 (ja) * | 2013-05-21 | 2017-08-30 | 東芝ライフスタイル株式会社 | 電気掃除機 |
JP2014230714A (ja) * | 2013-05-30 | 2014-12-11 | シャープ株式会社 | 自走式電子機器 |
JP6204080B2 (ja) * | 2013-06-17 | 2017-09-27 | 東芝ライフスタイル株式会社 | 電気掃除機 |
WO2015019982A1 (ja) * | 2013-08-06 | 2015-02-12 | 株式会社村田製作所 | 手押し車 |
JP6309637B2 (ja) * | 2014-01-10 | 2018-04-11 | アイロボット コーポレイション | 自律式移動ロボット |
DE102014110875A1 (de) * | 2014-07-10 | 2016-01-28 | Vorwerk & Co. Interholding Gmbh | Verfahrteil, insbesondere selbsttätig verfahrbares Bodenreinigungsgerät |
JP6506972B2 (ja) * | 2015-01-20 | 2019-04-24 | シャープ株式会社 | 自走式掃除機 |
WO2017200348A1 (ko) | 2016-05-20 | 2017-11-23 | 엘지전자 주식회사 | 로봇 청소기 |
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-
2004
- 2004-11-30 JP JP2004345560A patent/JP4277214B2/ja active Active
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013047039A1 (ja) * | 2011-09-29 | 2013-04-04 | シャープ株式会社 | 掃除ロボット |
JP2013070953A (ja) * | 2011-09-29 | 2013-04-22 | Sharp Corp | 掃除ロボット |
TWI486142B (zh) * | 2011-09-29 | 2015-06-01 | Sharp Kk | Cleaning robots |
JP2020108867A (ja) * | 2016-01-22 | 2020-07-16 | シャープ株式会社 | ロボット掃除機 |
JP7413133B2 (ja) | 2016-01-22 | 2024-01-15 | シャープ株式会社 | ロボット掃除機 |
KR20200007490A (ko) * | 2018-07-13 | 2020-01-22 | 주식회사 아이포바인 | 로봇 청소기용 구동휠 높이조절장치 |
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JP2006155274A (ja) | 2006-06-15 |
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