JP6427619B2 - 着脱可能パッドを用いた自律床清掃 - Google Patents
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- A—HUMAN NECESSITIES
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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
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- A—HUMAN NECESSITIES
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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
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Description
ロボットの全体構造
清掃パッド構造
・香り付け及び予め石鹸を付けておくことが可能なウェットモッピング清掃パッド。
・香り付け及び予め石鹸を付けておくことが可能であり、ウェットモッピング清掃パッドより少ない清掃液で清掃可能なダンプモッピング清掃パッド。
・香り付けや鉱油を浸透させることが可能であり、清掃液を必要としないドライダスティング清掃パッド。
・再利用可能であり、水、清掃溶液、香り付けされた溶液、または別の清掃液を用いて床面を清掃可能なウォッシャブル清掃パッド。
いくつかの例において、ウェットモッピング清掃パッド、ダンプモッピング清掃パッド、及びドライダスティング清掃パッドは、一回用使い捨て清掃パッドである。ウェットモッピング清掃パッド及びダンプモッピング清掃パッドは、パッケージから取り出した時点で水又は別の清掃液を含むよう、あらかじめ湿らせた、又はあらかじめ濡らした清掃パッドであり得る。ドライダスティング清掃パッドは、個別にミネラルオイルを浸透させることが可能であり得る。清掃パッドのタイプとの関連付けが可能なナビゲーション挙動及び散布スケジュールは、図4A−4B及び表1−3に関して更に詳細に後述する。
清掃パッドの保持及び取付機構
ナビゲーション挙動及び散布スケジュール
制御システム
パッド識別システム
離散識別配列
1.左ブロック610a−610cが明状態であり、右ブロック612a−612cが明状態である明−明状態。
2.左ブロック610a−610cが明状態であり、右ブロック612a−612cが暗状態である明−暗状態。
3.左ブロック610a−610cが暗状態であり、右ブロック612a−612cが明状態である暗−明状態。
4.左ブロック610a−610cが暗状態であり、右ブロック612a−612cが暗状態である暗−暗状態。
図6Aにおいて、識別要素608aは明−暗状態であり、識別要素608bは明−暗状態であり、識別要素608cは暗−明状態である。
カラー識別マーク
その他の識別構想
使用方法
Claims (15)
- 清掃ロボットであって、
前記清掃ロボットを部屋の床面上で前進駆動方向に動かすための駆動部と、
前記床面に液体を塗布するための液体塗布器と、
前記清掃ロボットによって保持されている清掃パッドに設けられた識別特徴を検出するよう配置され、該識別特徴に基づいて該清掃パッドのパッドタイプを示す信号を生成するよう構成されたパッドセンサと、
前記パッドセンサによって生成された前記信号に応答する制御部であって、
第一挙動においては、前記清掃ロボットが前記前進駆動方向に前進して障害物の縁部を辿りながら、前記液体塗布器が前記パッドタイプ及び該第一挙動用の液体塗布頻度又は液体塗布時間を提供する第一液体塗布スケジュールに従って前記床面に液体を塗布し、
第二挙動においては、前記清掃ロボットが前後に動きながら全体として前進する動作を繰り返すことで前記前進駆動方向に前進しながら、前記液体塗布器が前記パッドタイプ及び該第二挙動用の液体塗布頻度又は液体塗布時間を提供する第二液体塗布スケジュールに従って前記床面に液体を塗布するよう、
前記清掃パッドの前記パッドタイプに応じた清掃作業で前記清掃ロボットを制御する制御部と、
を備える清掃ロボット。 - 前記信号で示される前記パッドタイプは、液体を吸収して清掃するウェットモッピングパッドタイプ又は、液体を吸収して清掃するが、該ウェットモッピングパッドタイプより少ない量の液体での清掃に適したダンプモッピングパッドタイプのいずれかであり、
前記制御部は、
前記パッドタイプが前記ウェットモッピングパッドタイプの場合、該ウェットモッピングパッドタイプに適した量の液体を塗布するための該ウェットモッピングパッドタイプ用の液体塗布頻度又は液体塗布時間を提供する液体塗布スケジュールに従って液体を塗布し、
前記パッドタイプが前記ダンプモッピングパッドタイプの場合、該ダンプモッピングパッドタイプ用の液体塗布頻度又は液体塗布時間を提供する液体塗布スケジュールに従って液体を塗布し、該ダンプモッピングパッドタイプ用の液体塗布頻度は前記ウェットモッピングパッドタイプ用の液体塗布頻度より低く、該ダンプモッピングパッドタイプ用の液体塗布時間は前記ウェットモッピングパッドタイプ用の液体塗布時間より短い、
請求項1に記載の清掃ロボット。 - 前記液体塗布器は、前記清掃ロボットの前方の前記床面の一部に液体を散布するよう構成される散布メカニズムを含む、
請求項1に記載の清掃ロボット。 - 前記制御部は、前記第二挙動中に前記清掃ロボットが前記障害物に遭遇した時に第一挙動を開始するよう構成される、
請求項1に記載の清掃ロボット。 - 前記清掃ロボットと前記障害物との間の接触を検出するバンパを更に備え、
前記制御部は、前記バンパによる前記清掃ロボットと前記障害物との間の接触の検出に応答して前記第一挙動を開始するよう構成される、
請求項1に記載の清掃ロボット。 - 前記制御部は、前記第一挙動中に前記清掃ロボットが前記障害物の全周に沿って移動した場合に前記第二挙動を開始するよう構成される、
請求項1に記載の清掃ロボット。 - 前記制御部は、前記清掃作業中に前記第一挙動と前記第二挙動との間で挙動を交互に切り替えるよう構成される、
請求項1に記載の清掃ロボット。 - 前記パッドセンサは少なくとも一つの光学エミッタを備え、前記識別特徴は前記清掃パッドの表面に配置されたインクである、
請求項1に記載の清掃ロボット。 - 前記識別特徴は、それぞれが第一領域及び第二領域を有する複数の識別要素を含み、
前記パッドセンサは、前記第一領域の第一反射率及び前記第二領域の第二反射率を別々に検出するよう配置される、
請求項1に記載の清掃ロボット。 - 前記制御部は、前記清掃ロボットが、前記第二挙動において、前記前進駆動方向に沿って一定距離前進した後元の位置まで後退し、該前進駆動方向から左右方向一方に逸れる第一弓形軌道に沿って一定距離前進した後該元の位置まで後退し、該前進駆動方向から左右方向他方に逸れる第二弓形軌道に沿って一定距離前進した後該元の位置まで後退し、次いで該前進駆動方向に沿って一定距離前進する一連の動作を繰り返すことで、徐々に前記前進駆動方向に前進するよう、該清掃ロボットを制御するよう構成される、
請求項1に記載の清掃ロボット。 - 前記第二液体塗布スケジュールは、所定の液体塗布頻度及び所定の液体塗布時間を有する初期の第一期間と、該所定の液体塗布頻度より低い液体塗布頻度又は該所定の液体塗布時間より短い液体塗布時間を有する後期の第二期間とを含む、
請求項1に記載の清掃ロボット。 - 前記制御部は、
(i)前記清掃ロボットが前記第二液体塗布スケジュールの前記第一期間中に液体塗布しながら所定距離移動したか、又は
(ii)前記液体塗布器が前記第二液体塗布スケジュールの前記第一期間中に所定の量液体を散布した場合に、
前記第二液体塗布スケジュールの前記第二期間に従った液体塗布を開始するよう構成される、
請求項11に記載の清掃ロボット。 - 前記第一挙動において、前記清掃ロボットは、該清掃ロボットによって保持されている清掃パッドの前記縁部に押し付けながら該縁部に沿って前進する、
請求項1に記載の清掃ロボット。 - 前記第二挙動において、前記清掃ロボットは、直線状の軌道に沿って前進し、壁面に遭遇すると180度方向転換し、直前に辿った直線状の軌道に平行な別の直線状の軌道に沿って前進するという一連の動作を繰り返すことで部屋内を移動する、
請求項1に記載の清掃ロボット。 - 前記清掃パッドを保持し、解放機構の作動に応答して該清掃パッドを解放するよう構成された解放可能保持クリップを備えるパッドホルダを更に備える、
請求項1に記載の清掃ロボット。
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EP (3) | EP3473154B1 (ja) |
JP (3) | JP6133944B2 (ja) |
KR (1) | KR102385214B1 (ja) |
CN (3) | CN105982626B (ja) |
AU (2) | AU2015387168B2 (ja) |
CA (1) | CA2978070C (ja) |
ES (2) | ES2711076T3 (ja) |
WO (1) | WO2016148744A1 (ja) |
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